[kilted] Fix incorrect action client feedback callback type hint#1654
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[kilted] Fix incorrect action client feedback callback type hint#1654laser wants to merge 1 commit into
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…hint The ActionClient.send_goal_async() feedback_callback parameter is declared as Callable[[FeedbackT], None] but the runtime dispatcher invokes the registered callback with a FeedbackMessage[FeedbackT] (the wrapper carrying goal_id and feedback fields), not a bare FeedbackT. Consumers who type their callback correctly according to the declared signature cannot reach the feedback payload. This is a client-side-only backport of upstream commit f735d59 (PR ros2#1616) to kilted. The server-side changes in that PR depend on the ImplT generic parameter introduced after kilted, so they are excluded here. Introduces a FeedbackCallbackUnion type alias in the TYPE_CHECKING block and threads it through SendGoalKWargs, the internal _feedback_callbacks dict, and send_goal_async's signature. No runtime behavior changes; this is a pure type-hint correction. Signed-off-by: Laser <l@s3r.me>
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@laser I added you as a co-author since you technically helped me by reminding to do this. |
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What Problem Are We Trying to Solve?
ActionClient.send_goal_async()declaresfeedback_callbackasCallable[[FeedbackT], None], but the runtime dispatcher in the same file invokes the registered callback with aFeedbackMessage[FeedbackT](the wrapper withgoal_idandfeedbackfields), not a bareFeedbackT.How Did We Solve the Problem?
FeedbackCallbackUnionTypeAliasin theTYPE_CHECKINGblock, moveSendGoalKWargsinto the same block asGeneric[FeedbackT], and use the new alias in_feedback_callbacks,send_goal, andsend_goal_async.test_action_client.pyto typefeedback_callbackwithFeedbackMessage[Fibonacci.Feedback], documenting the corrected signature.ImplTgeneric parameter introduced after kilted.