From d044cf87be4fa798d6f43eca0db94c1d8c2c20de Mon Sep 17 00:00:00 2001
From: haixuanTao <tao.xavier@outlook.com>
Date: Mon, 29 Apr 2024 21:21:32 +0200
Subject: [PATCH] Fixing DoraStatus return error

---
 apis/python/node/dora/__init__.py             |  1 -
 apis/python/node/dora/__init__.pyi            | 33 +------------------
 apis/python/node/generate_stubs.py            |  2 ++
 .../python-ros2-dataflow/random_turtle.py     | 12 +++----
 .../extensions/ros2-bridge/python/src/lib.rs  |  2 +-
 5 files changed, 9 insertions(+), 41 deletions(-)

diff --git a/apis/python/node/dora/__init__.py b/apis/python/node/dora/__init__.py
index 58e7778d..43e2ca2e 100644
--- a/apis/python/node/dora/__init__.py
+++ b/apis/python/node/dora/__init__.py
@@ -12,7 +12,6 @@ from enum import Enum
 from .dora import (
     Node,
     PyEvent,
-    DoraStatus,
     Ros2Context,
     Ros2Node,
     Ros2NodeOptions,
diff --git a/apis/python/node/dora/__init__.pyi b/apis/python/node/dora/__init__.pyi
index 5d99353a..e6bc35c7 100644
--- a/apis/python/node/dora/__init__.pyi
+++ b/apis/python/node/dora/__init__.pyi
@@ -1,37 +1,6 @@
 import pyarrow
 import typing
 
-@typing.final
-class DoraStatus:
-    """Dora Status for dora python operators."""
-
-    def __eq__(self, value: typing.Any, /) -> bool:
-        """Return self==value."""
-
-    def __ge__(self, value: typing.Any, /) -> bool:
-        """Return self>=value."""
-
-    def __gt__(self, value: typing.Any, /) -> bool:
-        """Return self>value."""
-
-    def __int__(self, /) -> None:
-        """int(self)"""
-
-    def __le__(self, value: typing.Any, /) -> bool:
-        """Return self<=value."""
-
-    def __lt__(self, value: typing.Any, /) -> bool:
-        """Return self<value."""
-
-    def __ne__(self, value: typing.Any, /) -> bool:
-        """Return self!=value."""
-
-    def __repr__(self, /) -> str:
-        """Return repr(self)."""
-    CONTINUE: DoraStatus = ...
-    STOP: DoraStatus = ...
-    STOP_ALL: DoraStatus = ...
-
 @typing.final
 class Enum:
     """Generic enumeration.
@@ -162,7 +131,7 @@ context = Ros2Context()
 ros2_node = ros2_context.new_node(
 "turtle_teleop",
 "/ros2_demo",
-dora.experimental.ros2_bridge.Ros2NodeOptions(rosout=True),
+Ros2NodeOptions(rosout=True),
 )
 ```"""
 
diff --git a/apis/python/node/generate_stubs.py b/apis/python/node/generate_stubs.py
index 47723489..d8b739b2 100644
--- a/apis/python/node/generate_stubs.py
+++ b/apis/python/node/generate_stubs.py
@@ -72,6 +72,8 @@ def module_stubs(module: Any) -> ast.Module:
         element_path = [module.__name__, member_name]
         if member_name.startswith("__"):
             pass
+        elif member_name.startswith("DoraStatus"):
+            pass
         elif inspect.isclass(member_value):
             classes.append(
                 class_stubs(member_name, member_value, element_path, types_to_import)
diff --git a/examples/python-ros2-dataflow/random_turtle.py b/examples/python-ros2-dataflow/random_turtle.py
index e6fa2c75..20301963 100755
--- a/examples/python-ros2-dataflow/random_turtle.py
+++ b/examples/python-ros2-dataflow/random_turtle.py
@@ -1,23 +1,21 @@
 #!/usr/bin/env python
 # -*- coding: utf-8 -*-
 
-import dora
-from dora import Node
+import dora as dora
+from dora import Node, Ros2Context, Ros2NodeOptions, Ros2QosPolicies
 
 CHECK_TICK = 50
 
 # Create a ROS2 Context
-ros2_context = dora.experimental.ros2_bridge.Ros2Context()
+ros2_context = Ros2Context()
 ros2_node = ros2_context.new_node(
     "turtle_teleop",
     "/ros2_demo",
-    dora.experimental.ros2_bridge.Ros2NodeOptions(rosout=True),
+    Ros2NodeOptions(rosout=True),
 )
 
 # Define a ROS2 QOS
-topic_qos = dora.experimental.ros2_bridge.Ros2QosPolicies(
-    reliable=True, max_blocking_time=0.1
-)
+topic_qos = Ros2QosPolicies(reliable=True, max_blocking_time=0.1)
 
 # Create a publisher to cmd_vel topic
 turtle_twist_topic = ros2_node.create_topic(
diff --git a/libraries/extensions/ros2-bridge/python/src/lib.rs b/libraries/extensions/ros2-bridge/python/src/lib.rs
index 3030856d..ac77d2a4 100644
--- a/libraries/extensions/ros2-bridge/python/src/lib.rs
+++ b/libraries/extensions/ros2-bridge/python/src/lib.rs
@@ -95,7 +95,7 @@ impl Ros2Context {
     /// ros2_node = ros2_context.new_node(
     ///     "turtle_teleop",
     ///     "/ros2_demo",
-    ///     dora.experimental.ros2_bridge.Ros2NodeOptions(rosout=True),
+    ///     Ros2NodeOptions(rosout=True),
     /// )
     /// ```
     ///