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Extract imports out from __init__() and __type_support__() #237

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Extract imports out from __init__() and __type_support__() #237

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8177fed
remove imports from __init__ and __type_support__
InvincibleRMC Oct 1, 2025
1948292
remove added test_files
InvincibleRMC Oct 1, 2025
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31 changes: 16 additions & 15 deletions rosidl_generator_py/resource/_action.py.em
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,10 @@ TEMPLATE(
}@


from action_msgs.msg._goal_status_array import Metaclass_GoalStatusArray # noqa: E402, I100
from action_msgs.srv._cancel_goal import Metaclass_CancelGoal # noqa: E402, I100


class Metaclass_@(action.namespaced_type.name)(rosidl_pycommon.interface_base_classes.ActionTypeSupportMeta):
"""Metaclass of action '@(action.namespaced_type.name)'."""

Expand All @@ -50,7 +54,7 @@ class Metaclass_@(action.namespaced_type.name)(rosidl_pycommon.interface_base_cl
@@classmethod
def __import_type_support__(cls) -> None:
try:
from rosidl_generator_py import import_type_support
from rosidl_generator_py import import_type_support # type: ignore[attr-defined]
module = import_type_support('@(package_name)')
except ImportError:
import logging
Expand All @@ -63,20 +67,17 @@ class Metaclass_@(action.namespaced_type.name)(rosidl_pycommon.interface_base_cl
else:
cls._TYPE_SUPPORT = module.type_support_action__@('__'.join(action.namespaced_type.namespaces[1:]))_@(action_name)

from action_msgs.msg import _goal_status_array
if _goal_status_array.Metaclass_GoalStatusArray._TYPE_SUPPORT is None:
_goal_status_array.Metaclass_GoalStatusArray.__import_type_support__()
from action_msgs.srv import _cancel_goal
if _cancel_goal.Metaclass_CancelGoal._TYPE_SUPPORT is None:
_cancel_goal.Metaclass_CancelGoal.__import_type_support__()

from @('.'.join(action.namespaced_type.namespaces)) import @(module_name)
if @(module_name).Metaclass_@(action.send_goal_service.namespaced_type.name)._TYPE_SUPPORT is None:
@(module_name).Metaclass_@(action.send_goal_service.namespaced_type.name).__import_type_support__()
if @(module_name).Metaclass_@(action.get_result_service.namespaced_type.name)._TYPE_SUPPORT is None:
@(module_name).Metaclass_@(action.get_result_service.namespaced_type.name).__import_type_support__()
if @(module_name).Metaclass_@(action.feedback_message.structure.namespaced_type.name)._TYPE_SUPPORT is None:
@(module_name).Metaclass_@(action.feedback_message.structure.namespaced_type.name).__import_type_support__()
if Metaclass_GoalStatusArray._TYPE_SUPPORT is None:
Metaclass_GoalStatusArray.__import_type_support__()
if Metaclass_CancelGoal._TYPE_SUPPORT is None:
Metaclass_CancelGoal.__import_type_support__()

if Metaclass_@(action.send_goal_service.namespaced_type.name)._TYPE_SUPPORT is None:
Metaclass_@(action.send_goal_service.namespaced_type.name).__import_type_support__()
if Metaclass_@(action.get_result_service.namespaced_type.name)._TYPE_SUPPORT is None:
Metaclass_@(action.get_result_service.namespaced_type.name).__import_type_support__()
if Metaclass_@(action.feedback_message.structure.namespaced_type.name)._TYPE_SUPPORT is None:
Metaclass_@(action.feedback_message.structure.namespaced_type.name).__import_type_support__()


class @(action.namespaced_type.name)(rosidl_pycommon.interface_base_classes.BaseAction[
Expand Down
43 changes: 16 additions & 27 deletions rosidl_generator_py/resource/_msg.py.em
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Original file line number Diff line number Diff line change
Expand Up @@ -97,6 +97,18 @@ for member in message.structure.members:
if isinstance(type_, BasicType) and type_.typename in FLOATING_POINT_TYPES:
imports.setdefault(
'import math', []) # used for math.isinf
if isinstance(type_, NamespacedType):
if not (
type_.name.endswith(SERVICE_RESPONSE_MESSAGE_SUFFIX) or
type_.name.endswith(SERVICE_REQUEST_MESSAGE_SUFFIX) or
type_.name.endswith(ACTION_GOAL_SUFFIX) or
type_.name.endswith(ACTION_RESULT_SUFFIX) or
type_.name.endswith(ACTION_FEEDBACK_SUFFIX)
):
joined_type_namespaces = '.'.join(type_.namespaces)
imports.setdefault(
f'from {joined_type_namespaces}._{convert_camel_case_to_lower_case_underscore(type_.name)} import {type_.name}',
[])
if (
isinstance(member.type, AbstractNestedType) and
isinstance(member.type.value_type, BasicType) and
Expand Down Expand Up @@ -199,16 +211,15 @@ for member in message.structure.members:
type_.name.endswith(ACTION_FEEDBACK_SUFFIX)
):
action_name, suffix = type_.name.rsplit('_', 1)
typename = (*type_.namespaces, action_name, action_name + '.' + suffix)
typename = action_name + '.' + suffix
else:
typename = (*type_.namespaces, type_.name, type_.name)
typename = type_.name
importable_typesupports.add(typename)
}@
@[for typename in sorted(importable_typesupports)]@

from @('.'.join(typename[:-2])) import @(typename[-2])
if @(typename[-1])._TYPE_SUPPORT is None:
@(typename[-1]).__import_type_support__()
if @(typename)._TYPE_SUPPORT is None:
@(typename).__import_type_support__()
@[end for]@

@@classmethod
Expand Down Expand Up @@ -380,17 +391,6 @@ if isinstance(type_, AbstractNestedType):
@[ if member.has_annotation('default')]@
self.@(member.name) = @(member.name) if @(member.name) is not None else @(message.structure.namespaced_type.name).@(member.name.upper())__DEFAULT
@[ else]@
@[ if isinstance(type_, NamespacedType) and not isinstance(member.type, AbstractSequence)]@
@[ if (
type_.name.endswith(ACTION_GOAL_SUFFIX) or
type_.name.endswith(ACTION_RESULT_SUFFIX) or
type_.name.endswith(ACTION_FEEDBACK_SUFFIX)
)]@
from @('.'.join(type_.namespaces))._@(convert_camel_case_to_lower_case_underscore(type_.name.rsplit('_', 1)[0])) import @(type_.name)
@[ else]@
from @('.'.join(type_.namespaces)) import @(type_.name)
@[ end if]@
@[ end if]@
@[ if isinstance(member.type, Array)]@
@[ if isinstance(type_, BasicType) and type_.typename == 'octet']@
self.@(member.name) = @(member.name) if @(member.name) is not None else [bytes([0]) for x in range(@(member.type.size))]
Expand Down Expand Up @@ -516,17 +516,6 @@ if isinstance(member.type, (Array, AbstractSequence)):
return
@[ end if]@
@[ end if]@
@[ if isinstance(type_, NamespacedType)]@
@[ if (
type_.name.endswith(ACTION_GOAL_SUFFIX) or
type_.name.endswith(ACTION_RESULT_SUFFIX) or
type_.name.endswith(ACTION_FEEDBACK_SUFFIX)
)]@
from @('.'.join(type_.namespaces))._@(convert_camel_case_to_lower_case_underscore(type_.name.rsplit('_', 1)[0])) import @(type_.name)
@[ else]@
from @('.'.join(type_.namespaces)) import @(type_.name)
@[ end if]@
@[ end if]@
@[ if isinstance(member.type, AbstractNestedType)]@
from collections.abc import Sequence
from collections.abc import Set
Expand Down
15 changes: 7 additions & 8 deletions rosidl_generator_py/resource/_srv.py.em
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ class Metaclass_@(service.namespaced_type.name)(rosidl_pycommon.interface_base_c
@@classmethod
def __import_type_support__(cls) -> None:
try:
from rosidl_generator_py import import_type_support
from rosidl_generator_py import import_type_support # type: ignore[attr-defined]
module = import_type_support('@(package_name)')
except ImportError:
import logging
Expand All @@ -47,13 +47,12 @@ class Metaclass_@(service.namespaced_type.name)(rosidl_pycommon.interface_base_c
else:
cls._TYPE_SUPPORT = module.type_support_srv__@('__'.join(service.namespaced_type.namespaces[1:]))_@(service_name)

from @('.'.join(service.namespaced_type.namespaces)) import @(module_name)
if @(module_name).Metaclass_@(service.request_message.structure.namespaced_type.name)._TYPE_SUPPORT is None:
@(module_name).Metaclass_@(service.request_message.structure.namespaced_type.name).__import_type_support__()
if @(module_name).Metaclass_@(service.response_message.structure.namespaced_type.name)._TYPE_SUPPORT is None:
@(module_name).Metaclass_@(service.response_message.structure.namespaced_type.name).__import_type_support__()
if @(module_name).Metaclass_@(service.event_message.structure.namespaced_type.name)._TYPE_SUPPORT is None:
@(module_name).Metaclass_@(service.event_message.structure.namespaced_type.name).__import_type_support__()
if Metaclass_@(service.request_message.structure.namespaced_type.name)._TYPE_SUPPORT is None:
Metaclass_@(service.request_message.structure.namespaced_type.name).__import_type_support__()
if Metaclass_@(service.response_message.structure.namespaced_type.name)._TYPE_SUPPORT is None:
Metaclass_@(service.response_message.structure.namespaced_type.name).__import_type_support__()
if Metaclass_@(service.event_message.structure.namespaced_type.name)._TYPE_SUPPORT is None:
Metaclass_@(service.event_message.structure.namespaced_type.name).__import_type_support__()


class @(service.namespaced_type.name)(rosidl_pycommon.interface_base_classes.BaseService[
Expand Down
15 changes: 0 additions & 15 deletions rosidl_generator_py/rosidl_generator_py/generate_py_impl.py
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Original file line number Diff line number Diff line change
Expand Up @@ -24,9 +24,6 @@
from rosidl_parser.definition import AbstractSequence
from rosidl_parser.definition import AbstractType
from rosidl_parser.definition import Action
from rosidl_parser.definition import ACTION_FEEDBACK_SUFFIX
from rosidl_parser.definition import ACTION_GOAL_SUFFIX
from rosidl_parser.definition import ACTION_RESULT_SUFFIX
from rosidl_parser.definition import Array
from rosidl_parser.definition import BasicType
from rosidl_parser.definition import CHARACTER_TYPES
Expand Down Expand Up @@ -435,18 +432,6 @@ def get_setter_and_getter_type(member: Member, type_imports: set[str]) -> tuple[
else:
type_annotation = python_type

if isinstance(type_, NamespacedType):
joined_type_namespaces = '.'.join(type_.namespaces)
if type_.name.endswith(ACTION_GOAL_SUFFIX) or type_.name.endswith(ACTION_RESULT_SUFFIX) \
or type_.name.endswith(ACTION_FEEDBACK_SUFFIX):

type_name_rsplit = type_.name.rsplit('_', 1)
lower_case_name = convert_camel_case_to_lower_case_underscore(type_name_rsplit[0])
type_imports.add(f'from {joined_type_namespaces}._{lower_case_name} '
f'import {type_.name}')
else:
type_imports.add(f'from {joined_type_namespaces} import {type_.name}')

type_annotations_setter = type_annotation

if type_annotations_getter == '':
Expand Down