feat(hiroz-py): rclpy alignment — P1–P8 API improvements#192
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Implements all 8 proposals from the rclpy API alignment review: P1 — wait_for_service / wait_for_server / wait_for_subscription Adds graph-polling wait primitives to ZClient, ZActionClient, and ZPublisher. Replaces time.sleep(1.0) anti-pattern in all examples. P2 — Smart error for swapped arguments create_publisher/create_subscriber detect when msg_type and topic args are positionally swapped (rclpy order vs hiroz order) and raise a clear TypeError. P3 — Method aliases ZNode.create_subscription aliased to create_subscriber. P4 — Service grouping type in codegen python_msgspec_generator now emits AddTwoInts.Request / .Response grouping classes with __srvtype__. create_client/create_server accept the grouping class or the bare Request class (back-compat). P5 — Wire custom exception types Timeouts now raise hiroz_py.TimeoutError instead of bare RuntimeError. Tests and examples updated accordingly. P6 — Optional callback-style create_server create_server accepts optional callback= kwarg; spawns a background thread when provided. Pull mode (take_request/send_response) remains the default. ZNode.create_service added as alias. P7 — Action grouping type in codegen Actions emit Fibonacci.Goal / .Result / .Feedback grouping classes with __actiontype__. create_action_client/server accept either form. P8 — QoS enum constants + int-depth shorthand ReliabilityPolicy, DurabilityPolicy, HistoryPolicy, LivelinessPolicy enums added to __init__.py. QoS params accept int (depth shorthand, rclpy-style). Also adds test_rclpy_alignment.py (17 tests, all passing). 65 total tests pass, clippy clean, ruff clean.
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Summary
Implements 8 concrete API improvements to
hiroz-pythat reduce migration friction for users coming fromrclpy, without touching hiroz's reactive no-spincore. All changes are additive and non-breaking.wait_for_service/wait_for_server/wait_for_subscription: graph-polling wait primitives that replace thetime.sleep(1.0)anti-pattern present in every examplecreate_publisher/create_subscriber: rclpy orders(msg_type, topic), hiroz orders(topic, msg_type)— silent positional failures now raise a clearTypeErrorwith a migration hintcreate_subscriptionandcreate_servicealiases onZNodeAddTwoInts.Request/.Responsewith__srvtype__);create_client/create_serveraccept the grouping class or the bareRequestclass (back-compat preserved)TimeoutError/SerializationError/TypeMismatchError: timeouts now raisehiroz_py.TimeoutErrorinstead of bareRuntimeErrorcreate_server(callback=fn): spawns a background handler thread; pull mode unchanged when omitted. Addscreate_servicealias.Fibonacci.Goal/.Result/.Feedbackwith__actiontype__);create_action_client/create_action_serveraccept either formReliabilityPolicy.RELIABLE,DurabilityPolicy.VOLATILE, etc.) andqos=10int-depth shorthand (rclpy-style)Key Changes
crates/hiroz-py/src/:node.rs,service.rs,action.rs,pubsub.rs,graph.rs,error.rs,qos.rs,traits.rscrates/hiroz-codegen/src/python_msgspec_generator.rs: P4 + P7 grouping class emissioncrates/hiroz-msgs/python/hiroz_msgs_py/types/*.py: regenerated with grouping classescrates/hiroz-py/python/hiroz_py/__init__.py+__init__.pyi: aliases, enums, updated stubscrates/hiroz-py/examples/: all three examples updated to use the new APIcrates/hiroz-py/tests/test_rclpy_alignment.py: 17 new end-to-end testsBreaking Changes
None. All changes are additive. Existing code using bare
Requestclasses,create_subscriber, pull-mode servers, and string QoS values continues to work.Open items (not in this PR)
threading.excepthookor a.last_errorpropertywait_for_serviceuses a 50ms polling loop; could be replaced with a liveliness-based notify once that API stabilises in hiroz core_tmp/MIGRATION-GUIDE.md) not yet added to the book