From e0d3f6e8ea74ff3e2a1d6eaae6b05086c8ec5d81 Mon Sep 17 00:00:00 2001
From: Michael Carlstrom <rmc@carlstrom.com>
Date: Thu, 3 Oct 2024 22:11:35 -0400
Subject: [PATCH] use ament_cmake_mypy instead

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
---
 rosidl_adapter/CMakeLists.txt           |  1 +
 rosidl_adapter/package.xml              |  2 +-
 rosidl_adapter/rosidl_adapter/parser.py |  2 +-
 rosidl_adapter/test/test_mypy.py        | 23 -----------------------
 4 files changed, 3 insertions(+), 25 deletions(-)
 delete mode 100644 rosidl_adapter/test/test_mypy.py

diff --git a/rosidl_adapter/CMakeLists.txt b/rosidl_adapter/CMakeLists.txt
index 33d9e879a..ae1337a91 100644
--- a/rosidl_adapter/CMakeLists.txt
+++ b/rosidl_adapter/CMakeLists.txt
@@ -10,6 +10,7 @@ ament_python_install_package(${PROJECT_NAME})
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
+  find_package(ament_cmake_mypy REQUIRED)
   ament_lint_auto_find_test_dependencies()
   ament_add_pytest_test(pytest test)
 endif()
diff --git a/rosidl_adapter/package.xml b/rosidl_adapter/package.xml
index 8c6c21d8c..a34cf27d9 100644
--- a/rosidl_adapter/package.xml
+++ b/rosidl_adapter/package.xml
@@ -26,10 +26,10 @@
   <exec_depend>python3-empy</exec_depend>
   <exec_depend>rosidl_cli</exec_depend>
 
+  <test_depend>ament_cmake_mypy</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_mypy</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/rosidl_adapter/rosidl_adapter/parser.py b/rosidl_adapter/rosidl_adapter/parser.py
index c6ae74ad3..aeee4b933 100644
--- a/rosidl_adapter/rosidl_adapter/parser.py
+++ b/rosidl_adapter/rosidl_adapter/parser.py
@@ -817,7 +817,7 @@ def validate_field_types(spec: Union[MessageSpecification,
                          known_msg_types: List[BaseType]) -> None:
     if isinstance(spec, MessageSpecification):
         spec_type = 'Message'
-        fields = spec.fields
+        fields: List[Field] = spec.fields
     elif isinstance(spec, ServiceSpecification):
         spec_type = 'Service'
         fields = spec.request.fields + spec.response.fields
diff --git a/rosidl_adapter/test/test_mypy.py b/rosidl_adapter/test/test_mypy.py
deleted file mode 100644
index 97e4f502a..000000000
--- a/rosidl_adapter/test/test_mypy.py
+++ /dev/null
@@ -1,23 +0,0 @@
-# Copyright 2024 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_mypy.main import main
-import pytest
-
-
-@pytest.mark.mypy
-@pytest.mark.linter
-def test_mypy() -> None:
-    rc = main(argv=[])
-    assert rc == 0, 'Found type errors!'