Type UAV schema registry

controls/sae_2025_ws/src/uav/uav/runtime/mission_spec.py

@@ -10,25 +10,31 @@
 
 from .mode_paths import normalize_public_mode_id
 
-try:
-    from ament_index_python.packages import (
-        PackageNotFoundError,
-        get_package_share_directory,
-    )
-except ModuleNotFoundError:
-
-    class PackageNotFoundError(Exception):
-        pass
-
-    def get_package_share_directory(_package_name: str) -> str:
-        raise PackageNotFoundError
-
 
 VALID_MISSION_TARGETS = {"uav", "payload"}
 _TOP_LEVEL_KEYS = {"modes"}
 _MODE_KEYS = {"mode", "params", "transitions"}
 
 
+class PackageNotFoundError(Exception):
+    pass
+
+
+def get_package_share_directory(package_name: str) -> str:
+    try:
+        from ament_index_python.packages import (
+            PackageNotFoundError as AmentPackageNotFoundError,
+            get_package_share_directory as ament_get_package_share_directory,
+        )
+    except ModuleNotFoundError as exc:
+        raise PackageNotFoundError from exc
+
+    try:
+        return ament_get_package_share_directory(package_name)
+    except AmentPackageNotFoundError as exc:
+        raise PackageNotFoundError from exc
+
+
 class MissionModeDocumentModel(BaseModel):
     model_config = ConfigDict(extra="forbid", populate_by_name=True)
 

controls/sae_2025_ws/src/uav/uav/runtime/schema_generator.py

@@ -11,7 +11,7 @@
 import pkgutil
 from pathlib import Path
 import types
-from typing import Any, Literal, Union, get_args, get_origin, get_type_hints
+from typing import Any, Literal, Union, cast, get_args, get_origin, get_type_hints
 
 from pydantic import BaseModel, ConfigDict, create_model
 
@@ -30,6 +30,8 @@
     registry_path,
 )
 
+DefaultKind = Literal["missing", "none", "value", "nan"]
+
 
 def _doc_summary(obj: object) -> str:
     doc = inspect.getdoc(obj) or ""
@@ -88,8 +90,9 @@ def _normalized_annotation(
         )
 
     if annotation in {dict, list, tuple, set}:
+        annotation_name = getattr(annotation, "__name__", repr(annotation))
         raise TypeError(
-            f"Mode '{mode_id_for(mode_class)}' parameter '{name}' must use a typed collection annotation, not bare '{annotation.__name__}'."
+            f"Mode '{mode_id_for(mode_class)}' parameter '{name}' must use a typed collection annotation, not bare '{annotation_name}'."
         )
 
     origin = get_origin(annotation)
@@ -129,7 +132,7 @@ def mode_params_model(mode_class: type[Mode]) -> type[BaseModel]:
         f"{mode_class.__name__}Params",
         __config__=ConfigDict(extra="forbid"),
         __module__=mode_class.__module__,
-        **field_definitions,
+        **cast(Any, field_definitions),
     )
 
 
@@ -158,7 +161,7 @@ def _sanitize_json_schema(value: Any) -> Any:
     return value
 
 
-def _default_payload(default: object) -> tuple[str, Any | None]:
+def _default_payload(default: object) -> tuple[DefaultKind, Any | None]:
     if default is inspect.Parameter.empty:
         return "missing", None
     if default is None:
@@ -181,9 +184,10 @@ def _normalize_annotation_spec(annotation: object) -> dict[str, Any]:
         return {"kind": "none"}
 
     if _is_typed_dict(annotation):
-        type_hints = get_type_hints(annotation)
-        required_keys = set(annotation.__required_keys__)
-        optional_keys = set(annotation.__optional_keys__)
+        typed_dict = cast(Any, annotation)
+        type_hints = get_type_hints(typed_dict)
+        required_keys = set(typed_dict.__required_keys__)
+        optional_keys = set(typed_dict.__optional_keys__)
         fields = []
         for name in sorted(required_keys | optional_keys):
             fields.append(
@@ -195,7 +199,7 @@ def _normalize_annotation_spec(annotation: object) -> dict[str, Any]:
             )
         return {
             "kind": "typed_dict",
-            "name": annotation.__name__,
+            "name": getattr(typed_dict, "__name__", str(annotation)),
             "fields": fields,
         }
 

controls/sae_2025_ws/src/uav/uav/runtime/schema_registry.py

@@ -4,7 +4,7 @@
 import json
 import operator
 from pathlib import Path
-from typing import Any, Literal
+from typing import Any, Literal, cast
 
 from pydantic import BaseModel, ConfigDict, create_model
 from typing_extensions import NotRequired, Required, TypedDict
@@ -110,7 +110,7 @@ def _annotation_from_spec(annotation: dict[str, Any], *, name_hint: str) -> obje
         return type(None)
     if kind == "literal":
         choices = tuple(annotation.get("choices", ()))
-        return Literal.__getitem__(choices)
+        return cast(Any, Literal).__getitem__(choices)
     if kind == "list":
         return list[
             _annotation_from_spec(annotation["item"], name_hint=f"{name_hint}_item")
@@ -141,7 +141,7 @@ def _annotation_from_spec(annotation: dict[str, Any], *, name_hint: str) -> obje
                 fields[field["name"]] = Required[field_type]
             else:
                 fields[field["name"]] = NotRequired[field_type]
-        return TypedDict(_typed_dict_name(name_hint), fields)
+        return cast(Any, TypedDict)(_typed_dict_name(name_hint), fields)
     if kind == "union":
         options = [
             _annotation_from_spec(option, name_hint=f"{name_hint}_{index}")
@@ -216,5 +216,5 @@ def params_model_for_entry(mode_id: str) -> type[BaseModel]:
         f"{entry.class_name}Params",
         __config__=ConfigDict(extra="forbid"),
         __module__=__name__,
-        **field_definitions,
+        **cast(Any, field_definitions),
     )