Fix lint, start adding unit test

Signed-off-by: Emerson Knapp <[email protected]>

rclpy/rclpy/publisher.py

@@ -12,15 +12,12 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from typing import List
 from typing import TypeVar
 
 from rclpy.callback_groups import CallbackGroup
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 from rclpy.qos import QoSProfile
 from rclpy.qos_event import PublisherEventCallbacks
-from rclpy.qos_event import QoSEventHandler
-from rclpy.qos_event import QoSPublisherEventType
 
 MsgType = TypeVar('MsgType')
 
@@ -60,8 +57,6 @@ def __init__(
         self.node_handle = node_handle
         self.callback_group = callback_group
 
-        self.event_callbacks = event_callbacks
-        self.event_handlers: List[QoSEventHandler] = []
         self.event_callbacks = event_callbacks
         self.event_handlers = event_callbacks.create_event_handlers(
             callback_group, publisher_handle)

rclpy/rclpy/subscription.py

@@ -13,13 +13,10 @@
 # limitations under the License.
 
 from typing import Callable
-from typing import List
 from typing import TypeVar
 
 from rclpy.callback_groups import CallbackGroup
 from rclpy.qos import QoSProfile
-from rclpy.qos_event import QoSEventHandler
-from rclpy.qos_event import QoSSubscriptionEventType
 from rclpy.qos_event import SubscriptionEventCallbacks
 
 

rclpy/src/rclpy/_rclpy.c

@@ -3606,7 +3606,6 @@ rclpy_convert_from_py_qos_policy(PyObject * Py_UNUSED(self), PyObject * args)
   qos_profile->depth = pyqos_depth;
   qos_profile->reliability = pyqos_reliability;
   qos_profile->durability = pyqos_durability;
-  qos_profile->deadline = (rmw_time_t){0, 500 * 1000LL * 1000LL};
   qos_profile->avoid_ros_namespace_conventions = avoid_ros_namespace_conventions;
   PyObject * pyqos_profile = PyCapsule_New(qos_profile, "rmw_qos_profile_t", NULL);
   return pyqos_profile;

rclpy/src/rclpy/_rclpy_qos_event.c

@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <rcl/event.h>
+
 typedef union _qos_event_callback_data {
   // Subscription events
   rmw_requested_deadline_missed_status_t requested_deadline_missed;
@@ -21,9 +23,11 @@ typedef union _qos_event_callback_data {
   rmw_liveliness_lost_status_t liveliness_lost;
 } _qos_event_callback_data_t;
 
-typedef PyObject * (*_qos_event_data_filler_function)(_qos_event_callback_data_t *);
+typedef PyObject * (* _qos_event_data_filler_function)(_qos_event_callback_data_t *);
 
-bool _check_rcl_return(rcl_ret_t ret, const char * error_msg) {
+bool
+_check_rcl_return(rcl_ret_t ret, const char * error_msg)
+{
   if (ret != RCL_RET_OK) {
     PyErr_Format(PyExc_RuntimeError,
       "%s: %s", error_msg, rcl_get_error_string().str);
@@ -177,7 +181,7 @@ _liveliness_lost_to_py_object(_qos_event_callback_data_t * data)
 
 
 _qos_event_data_filler_function
-_get_qos_event_data_filler_function_for(PyObject * pyparent, unsigned long event_type)
+_get_qos_event_data_filler_function_for(PyObject * pyparent, uint32_t event_type)
 {
   if (_is_pycapsule_rcl_subscription(pyparent)) {
     switch (event_type) {
@@ -203,7 +207,6 @@ _get_qos_event_data_filler_function_for(PyObject * pyparent, unsigned long event
     PyErr_Format(PyExc_TypeError,
       "Parent handle was not a valid Publisher or Subscription.");
   }
-
   return NULL;
 }
 
@@ -226,9 +229,13 @@ rclpy_create_event(PyObject * Py_UNUSED(self), PyObject * args)
 {
   unsigned PY_LONG_LONG pyevent_type;
   PyObject * pyparent = NULL;
+
+  rcl_ret_t ret;
   rcl_subscription_t * subscription = NULL;
   rcl_publisher_t * publisher = NULL;
-  rcl_ret_t ret;
+  rcl_event_t * event = NULL;
+
+  PyObject * pyevent = NULL;
 
   if (!PyArg_ParseTuple(args, "KO", &pyevent_type, &pyparent)) {
     return NULL;
@@ -243,7 +250,7 @@ rclpy_create_event(PyObject * Py_UNUSED(self), PyObject * args)
     return NULL;
   }
 
-  rcl_event_t * event = _new_zero_initialized_rcl_event();
+  event = _new_zero_initialized_rcl_event();
   if (!event) {
     return NULL;
   }
@@ -253,15 +260,14 @@ rclpy_create_event(PyObject * Py_UNUSED(self), PyObject * args)
   } else {
     ret = rcl_publisher_event_init(event, publisher, pyevent_type);
   }
-
   if (!_check_rcl_return(ret, "Failed to initialize event")) {
     PyMem_Free(event);
     return NULL;
   }
 
-  PyObject * pyevent = PyCapsule_New(event, "rcl_event_t", _destroy_event_capsule);
+  pyevent = PyCapsule_New(event, "rcl_event_t", _destroy_event_capsule);
   if (!pyevent) {
-    rcl_ret_t ret = rcl_event_fini(event);
+    ret = rcl_event_fini(event);
     PyMem_Free(event);
     _check_rcl_return(ret, "Failed to fini 'rcl_event_t'");
     return NULL;
@@ -295,10 +301,9 @@ rclpy_take_event(PyObject * Py_UNUSED(self), PyObject * args)
 
   // Type conversion
   rcl_ret_t ret;
-  _qos_event_callback_data_t event_data;
-
   rcl_event_t * event = NULL;
   PyObject * pyqos_event = NULL;
+  _qos_event_callback_data_t event_data;
   _qos_event_data_filler_function event_filler = NULL;
 
   if (!PyArg_ParseTuple(args, "OOK", &pyevent, &pyparent, &pyevent_type)) {
@@ -323,7 +328,6 @@ rclpy_take_event(PyObject * Py_UNUSED(self), PyObject * args)
 
   pyqos_event = event_filler(&event_data);
   if (!pyqos_event) {
-    PyErr_Format(PyExc_RuntimeError, "Unable to convert callback payload into a Python type.");
     return NULL;
   }
   return pyqos_event;

rclpy/src/rclpy_common/include/rclpy_common/common.h

@@ -16,7 +16,6 @@
 
 #include <Python.h>
 
-#include <rcl/event.h>
 #include <rcl/graph.h>  // rcl_names_and_types_t
 #include <rmw/types.h>
 

rclpy/test/test_qos_event.py

@@ -0,0 +1 @@
+