From ddb047a1cf5464ec7cf6c5063bfe4ad6b5dc5339 Mon Sep 17 00:00:00 2001
From: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com>
Date: Wed, 9 Nov 2022 04:27:13 +0900
Subject: [PATCH] Use mypy for static type checking (#30)

* Add mypy.ini

* Fix type annotation misstake by recent update

* Ignore type annotation miss

* Add mypy test in ci
---
 .github/workflows/peripheral.yml | 26 ++++++++++++++++++++
 mypy.ini                         | 41 ++++++++++++++++++++++++++++++++
 node_script/batch_processor.py   |  2 +-
 node_script/wrapper.py           | 11 +++++++--
 4 files changed, 77 insertions(+), 3 deletions(-)
 create mode 100644 .github/workflows/peripheral.yml
 create mode 100644 mypy.ini

diff --git a/.github/workflows/peripheral.yml b/.github/workflows/peripheral.yml
new file mode 100644
index 0000000..6f05ebe
--- /dev/null
+++ b/.github/workflows/peripheral.yml
@@ -0,0 +1,26 @@
+name: Peripheral test
+
+on:
+    push:
+        branches:
+            - master
+    pull_request:
+        branches:
+            - master
+
+jobs:
+  peripheral:
+    runs-on: ubuntu-latest
+    steps:
+        - name: Checkout Code
+          uses: actions/checkout@v2
+        - name: pip install formatters and mypy
+          run: |
+              pip3 install mypy
+
+        - name: check by mypy
+          run: |
+              pip3 install -r requirements.txt
+              pip3 install numpy==1.23  # to enable numpy's type checking
+              mypy --version
+              mypy .
diff --git a/mypy.ini b/mypy.ini
new file mode 100644
index 0000000..71dddd3
--- /dev/null
+++ b/mypy.ini
@@ -0,0 +1,41 @@
+[mypy]
+python_version = 3.8
+exclude = Detic
+show_error_codes = True
+warn_unused_ignores = False
+check_untyped_defs = True
+
+[mypy-cv_bridge]
+ignore_missing_imports = True
+[mypy-rospy]
+ignore_missing_imports = True
+[mypy-rostest]
+ignore_missing_imports = True
+[mypy-rospkg]
+ignore_missing_imports = True
+[mypy-rosbag]
+ignore_missing_imports = True
+[mypy-message_filters]
+ignore_missing_imports = True
+[mypy-detectron2.*]
+ignore_missing_imports = True
+[mypy-detic.*]
+ignore_missing_imports = True
+[mypy-centernet.config]
+ignore_missing_imports = True
+[mypy-detic_ros.*]
+ignore_missing_imports = True
+[mypy-sensor_msgs.*]
+ignore_missing_imports = True
+[mypy-std_msgs.*]
+ignore_missing_imports = True
+[mypy-jsk_recognition_msgs.*]
+ignore_missing_imports = True
+[mypy-cv2]
+ignore_missing_imports = True
+[mypy-matplotlib.*]
+ignore_missing_imports = True
+[mypy-tqdm]
+ignore_missing_imports = True
+[mypy-moviepy.*]
+ignore_missing_imports = True
diff --git a/node_script/batch_processor.py b/node_script/batch_processor.py
index 75175f2..ab255ee 100755
--- a/node_script/batch_processor.py
+++ b/node_script/batch_processor.py
@@ -53,7 +53,7 @@ def deep_cast(msg):
 
 
 def dump_result_as_pickle(results, image_list, output_file_name):
-    result_dict = {'image': [], 'seginfo': [], 'debug_image': []}
+    result_dict = {'image': [], 'seginfo': [], 'debug_image': []}  # type: ignore
     for ((seginfo, debug_image, _), image) in zip(results, image_list):
         seginfo, debug_image, _ = detic_wrapper.infer(image)
         result_dict['image'].append(image)
diff --git a/node_script/wrapper.py b/node_script/wrapper.py
index 1e1b269..ac0a8a1 100644
--- a/node_script/wrapper.py
+++ b/node_script/wrapper.py
@@ -5,9 +5,9 @@
 import rospkg
 from cv_bridge import CvBridge
 from sensor_msgs.msg import Image
+from std_msgs.msg import Header
 from detic_ros.msg import SegmentationInfo
 
-
 import torch
 import numpy as np
 
@@ -21,6 +21,10 @@
 class DeticWrapper:
     predictor: VisualizationDemo
     node_config: NodeConfig
+    bridge: CvBridge
+    class_names: List[str]
+    header: Optional[Header]
+    data: Optional[np.ndarray]
 
     class DummyArgs: 
         vocabulary: str
@@ -93,14 +97,17 @@ def get_debug_img(self, visualized_output: VisImage) -> Image:
         # Call after inference_step
         debug_img = self.bridge.cv2_to_imgmsg(visualized_output.get_image(),
                                               encoding="rgb8")
+        assert self.header is not None
         debug_img.header = self.header
         return debug_img
 
     def get_debug_segimg(self) -> Image:
         # Call after inference_step
+        assert self.data is not None
         human_friendly_scaling = 255 // self.data.max()
         new_data = (self.data * human_friendly_scaling).astype(np.uint8)
         debug_seg_img = self.bridge.cv2_to_imgmsg(new_data, encoding="mono8")
+        assert self.header is not None
         debug_seg_img.header = self.header
         return debug_seg_img
 
@@ -114,7 +121,7 @@ def get_segmentation_info(self, seg_img: Image,
                                     header=self.header)
         return seg_info
 
-    def get_label_array(self, detected_classes: List[str]) -> LabelArray:
+    def get_label_array(self, detected_classes: List[int]) -> LabelArray:
         # Label 0 is reserved for the background
         labels = [Label(id=i+1, name=self.class_names[i]) for i in detected_classes]
         lab_arr = LabelArray(header=self.header,