feat(hiroz-py): rclpy alignment — P1–P8 API improvements

crates/hiroz-codegen/src/python_msgspec_generator.rs

@@ -27,6 +27,15 @@ pub fn generate_python_bindings(
             .push(msg);
     }
 
+    // Group services by package so we can emit rclpy-style grouping classes (P4).
+    let mut service_groups: HashMap<String, Vec<&ResolvedService>> = HashMap::new();
+    for srv in services {
+        service_groups
+            .entry(srv.parsed.package.clone())
+            .or_default()
+            .push(srv);
+    }
+
     // Group service Request/Response by package, and track service type hashes
     let mut service_messages: HashMap<String, Vec<&ResolvedMessage>> = HashMap::new();
     let mut service_hashes: HashMap<String, HashMap<String, String>> = HashMap::new();
@@ -65,11 +74,16 @@ pub fn generate_python_bindings(
             .get(package_name)
             .cloned()
             .unwrap_or_default();
+        let srv_groups = service_groups
+            .get(package_name)
+            .map(|v| v.as_slice())
+            .unwrap_or(&[]);
         let python_code = generate_python_package_with_services(
             package_name,
             package_msgs,
             srv_msgs,
             &svc_hashes,
+            srv_groups,
         )?;
         let output_path = python_output_dir.join(format!("{}.py", package_name));
         fs::write(output_path, python_code)?;
@@ -82,8 +96,17 @@ pub fn generate_python_bindings(
                 .get(package_name)
                 .cloned()
                 .unwrap_or_default();
-            let python_code =
-                generate_python_package_with_services(package_name, &[], srv_msgs, &svc_hashes)?;
+            let srv_groups = service_groups
+                .get(package_name)
+                .map(|v| v.as_slice())
+                .unwrap_or(&[]);
+            let python_code = generate_python_package_with_services(
+                package_name,
+                &[],
+                srv_msgs,
+                &svc_hashes,
+                srv_groups,
+            )?;
             let output_path = python_output_dir.join(format!("{}.py", package_name));
             fs::write(output_path, python_code)?;
         }
@@ -113,6 +136,7 @@ fn generate_python_package_with_services(
     messages: &[&ResolvedMessage],
     service_messages: &[&ResolvedMessage],
     service_hashes: &HashMap<String, String>,
+    service_groups: &[&ResolvedService],
 ) -> Result<String> {
     let mut code = format!(
         "\"\"\"Auto-generated ROS 2 message types for {}.\"\"\"\n\
@@ -132,9 +156,33 @@ fn generate_python_package_with_services(
         code.push_str(&generate_msgspec_struct(msg, svc_hash.map(|s| s.as_str()))?);
     }
 
+    // Emit rclpy-style service grouping classes (P4). These reference the
+    // Request/Response structs above, so they must come after them.
+    for srv in service_groups {
+        code.push_str(&generate_service_grouping_class(srv));
+    }
+
     Ok(code)
 }
 
+/// Generate a service grouping class: `AddTwoInts.Request` / `.Response` (P4).
+///
+/// Lets `create_client`/`create_server` accept a single rclpy-style type
+/// (`example_interfaces.AddTwoInts`) instead of the bare Request class.
+fn generate_service_grouping_class(srv: &ResolvedService) -> String {
+    let srv_name = &srv.parsed.name;
+    let package = &srv.parsed.package;
+    let request_struct = &srv.request.parsed.name;
+    let response_struct = &srv.response.parsed.name;
+    format!(
+        "class {srv_name}:\n    \
+         \"\"\"Service grouping type. Use {srv_name}.Request and {srv_name}.Response.\"\"\"\n    \
+         __srvtype__: ClassVar[str] = '{package}/srv/{srv_name}'\n    \
+         Request: ClassVar[type] = {request_struct}\n    \
+         Response: ClassVar[type] = {response_struct}\n\n"
+    )
+}
+
 fn rust_to_python_type(field_type: &FieldType, current_package: &str) -> Result<String> {
     // Get the base field type (without array indicators)
     let base_type = &field_type.base_type;

crates/hiroz-msgs/python/hiroz_msgs_py/types/action_msgs.py

@@ -2,6 +2,12 @@
 import msgspec
 from typing import ClassVar
 
+class GoalStatusArray(msgspec.Struct, frozen=True, kw_only=True):
+    status_list: list["action_msgs.GoalStatus"] = msgspec.field(default_factory=list)
+
+    __msgtype__: ClassVar[str] = 'action_msgs/msg/GoalStatusArray'
+    __hash__: ClassVar[str] = 'RIHS01_6c1684b00f177d37438febe6e709fc4e2b0d4248dca4854946f9ed8b30cda83e'
+
 class GoalInfo(msgspec.Struct, frozen=True, kw_only=True):
     goal_id: "unique_identifier_msgs.UUID | None" = None
     stamp: "builtin_interfaces.Time | None" = msgspec.field(default_factory=lambda: {'sec': 0, 'nanosec': 0})
@@ -16,12 +22,6 @@ class GoalStatus(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'action_msgs/msg/GoalStatus'
     __hash__: ClassVar[str] = 'RIHS01_32f4cfd717735d17657e1178f24431c1ce996c878c515230f6c5b3476819dbb9'
 
-class GoalStatusArray(msgspec.Struct, frozen=True, kw_only=True):
-    status_list: list["action_msgs.GoalStatus"] = msgspec.field(default_factory=list)
-
-    __msgtype__: ClassVar[str] = 'action_msgs/msg/GoalStatusArray'
-    __hash__: ClassVar[str] = 'RIHS01_6c1684b00f177d37438febe6e709fc4e2b0d4248dca4854946f9ed8b30cda83e'
-
 class CancelGoalRequest(msgspec.Struct, frozen=True, kw_only=True):
     goal_info: "action_msgs.GoalInfo | None" = None
 
@@ -35,3 +35,9 @@ class CancelGoalResponse(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'action_msgs/msg/CancelGoalResponse'
     __hash__: ClassVar[str] = 'RIHS01_c66d49f351ea4375bf3eef8569e74b7afc19305d9fa94c71b412262e411f2a8f'
 
+class CancelGoal:
+    """Service grouping type. Use CancelGoal.Request and CancelGoal.Response."""
+    __srvtype__: ClassVar[str] = 'action_msgs/srv/CancelGoal'
+    Request: ClassVar[type] = CancelGoalRequest
+    Response: ClassVar[type] = CancelGoalResponse
+