add mypy unit test (AtsushiSakai#621)

* add mypy unit test

* add mypy unit test

* add mypy unit test

Author: AtsushiSakai

.github/workflows/Linux_CI.yml

@@ -28,21 +28,6 @@ jobs:
       run: |
         python -m pip install --upgrade pip
         python -m pip install -r requirements.txt
-    - name: install coverage
-      run: pip install coverage
-    - name: install mypy
-      run: pip install mypy
-    - name: mypy check
-      run: |
-        mypy -p AerialNavigation
-        mypy -p ArmNavigation
-        mypy -p Bipedal
-        mypy -p Control
-        mypy -p Localization
-        mypy -p Mapping
-        mypy -p PathPlanning
-        mypy -p PathTracking
-        mypy -p SLAM
     - name: do all unit tests
       run: bash runtests.sh
 

.github/workflows/MacOS_CI.yml

@@ -35,20 +35,5 @@ jobs:
           python -m pip install --upgrade pip
           pip install numpy # cvxpy install workaround
           pip install -r requirements.txt
-      - name: install coverage
-        run: pip install coverage
-      - name: install mypy
-        run: pip install mypy
-      - name: mypy check
-        run: |
-          mypy -p AerialNavigation
-          mypy -p ArmNavigation
-          mypy -p Bipedal
-          mypy -p Control
-          mypy -p Localization
-          mypy -p Mapping
-          mypy -p PathPlanning
-          mypy -p PathTracking
-          mypy -p SLAM
       - name: do all unit tests
         run: bash runtests.sh

PathPlanning/DStarLite/d_star_lite.py

@@ -64,15 +64,15 @@ def __init__(self, ox: list, oy: list):
                           for x, y in zip(ox, oy)]
         self.start = Node(0, 0)
         self.goal = Node(0, 0)
-        self.U = list()
+        self.U = list()  # type: ignore
         self.km = 0.0
         self.kold = 0.0
-        self.rhs = list()
-        self.g = list()
-        self.detected_obstacles = list()
+        self.rhs = list()  # type: ignore
+        self.g = list()  # type: ignore
+        self.detected_obstacles = list()  # type: ignore
         if show_animation:
-            self.detected_obstacles_for_plotting_x = list()
-            self.detected_obstacles_for_plotting_y = list()
+            self.detected_obstacles_for_plotting_x = list()  # type: ignore
+            self.detected_obstacles_for_plotting_y = list()  # type: ignore
 
     def create_grid(self, val: float):
         grid = list()
@@ -248,7 +248,7 @@ def compare_paths(self, path1: list, path2: list):
                 return False
         return True
 
-    def display_path(self, path: list, colour: str, alpha: int = 1):
+    def display_path(self, path: list, colour: str, alpha: float = 1.0):
         px = [(node.x + self.x_min_world) for node in path]
         py = [(node.y + self.y_min_world) for node in path]
         drawing = plt.plot(px, py, colour, alpha=alpha)

requirements.txt

@@ -5,6 +5,7 @@ matplotlib == 3.5.1
 cvxpy == 1.1.18
 pytest == 6.2.5 # For unit test
 pytest-xdist == 2.5.0 # For unit test
+mypy == 0.931 # For unit test
 flake8 == 4.0.1 # For unit test
 sphinx == 4.3.2 # For sphinx documentation
 sphinx_rtd_theme == 1.0.0

tests/test_mypy_type_check.py

@@ -0,0 +1,50 @@
+import os
+import subprocess
+
+import conftest
+
+SUBPACKAGE_LIST = [
+    "AerialNavigation",
+    "ArmNavigation",
+    "Bipedal",
+    "Control",
+    "Localization",
+    "Mapping",
+    "PathPlanning",
+    "PathTracking",
+    "SLAM",
+]
+
+
+def run_mypy(dir_name, project_path, config_path):
+    res = subprocess.run(
+        ['mypy',
+         '--config-file',
+         config_path,
+         '-p',
+         dir_name],
+        cwd=project_path,
+        stdout=subprocess.PIPE,
+        encoding='utf-8')
+    return res.returncode, res.stdout
+
+
+def test():
+    project_dir_path = os.path.dirname(
+        os.path.dirname(os.path.abspath(__file__)))
+    print(f"{project_dir_path=}")
+
+    config_path = os.path.join(project_dir_path, "mypy.ini")
+    print(f"{config_path=}")
+
+    for sub_package_name in SUBPACKAGE_LIST:
+        rc, errors = run_mypy(sub_package_name, project_dir_path, config_path)
+        if errors:
+            print(errors)
+        else:
+            print("No lint errors found.")
+        assert rc == 0
+
+
+if __name__ == '__main__':
+    conftest.run_this_test(__file__)