Add types to logging_service.py (#1227)

* add types to logging_service

Signed-off-by: Michael Carlstrom <[email protected]>

rclpy/rclpy/logging_service.py

@@ -12,17 +12,23 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from typing import TYPE_CHECKING
+
 from rcl_interfaces.msg import LoggerLevel, SetLoggerLevelsResult
 from rcl_interfaces.srv import GetLoggerLevels
 from rcl_interfaces.srv import SetLoggerLevels
 import rclpy
+from rclpy.impl.logging_severity import LoggingSeverity
 from rclpy.qos import qos_profile_services_default
 from rclpy.validate_topic_name import TOPIC_SEPARATOR_STRING
 
+if TYPE_CHECKING:
+    from rclpy.node import Node
+
 
 class LoggingService:
 
-    def __init__(self, node):
+    def __init__(self, node: 'Node'):
         node_name = node.get_name()
 
         get_logger_name_service_name = \
@@ -39,27 +45,29 @@ def __init__(self, node):
             self._set_logger_levels, qos_profile=qos_profile_services_default
         )
 
-    def _get_logger_levels(self, request, response):
+    def _get_logger_levels(self, request: GetLoggerLevels.Request,
+                           response: GetLoggerLevels.Response) -> GetLoggerLevels.Response:
         for name in request.names:
             logger_level = LoggerLevel()
             logger_level.name = name
             try:
                 ret_level = rclpy.logging.get_logger_level(name)
             except RuntimeError:
-                ret_level = 0
+                ret_level = LoggingSeverity.UNSET
             logger_level.level = ret_level
             response.levels.append(logger_level)
         return response
 
-    def _set_logger_levels(self, request, response):
+    def _set_logger_levels(self, request: SetLoggerLevels.Request,
+                           response: SetLoggerLevels.Response) -> SetLoggerLevels.Response:
         for level in request.levels:
             result = SetLoggerLevelsResult()
             result.successful = False
             try:
                 rclpy.logging.set_logger_level(level.name, level.level, detailed_error=True)
                 result.successful = True
             except ValueError:
-                result.reason = 'Failed reason: Invaild logger level.'
+                result.reason = 'Failed reason: Invalid logger level.'
             except RuntimeError as e:
                 result.reason = str(e)
             response.results.append(result)

rclpy/test/test_logging_service.py

@@ -196,9 +196,9 @@ def test_set_logging_level_with_invalid_param(self):
         response = future.result()
         self.assertEqual(len(response.results), 2)
         self.assertFalse(response.results[0].successful)
-        self.assertEqual(response.results[0].reason, 'Failed reason: Invaild logger level.')
+        self.assertEqual(response.results[0].reason, 'Failed reason: Invalid logger level.')
         self.assertFalse(response.results[1].successful)
-        self.assertEqual(response.results[1].reason, 'Failed reason: Invaild logger level.')
+        self.assertEqual(response.results[1].reason, 'Failed reason: Invalid logger level.')
         self.test_node.destroy_client(set_client)
 
     def test_set_logging_level_with_partial_invalid_param(self):
@@ -228,7 +228,7 @@ def test_set_logging_level_with_partial_invalid_param(self):
         self.assertTrue(response.results[0].successful)
         self.assertEqual(response.results[0].reason, '')
         self.assertFalse(response.results[1].successful)
-        self.assertEqual(response.results[1].reason, 'Failed reason: Invaild logger level.')
+        self.assertEqual(response.results[1].reason, 'Failed reason: Invalid logger level.')
         self.assertTrue(response.results[2].successful)
         self.assertEqual(response.results[2].reason, '')
         self.test_node.destroy_client(set_client)