Here's an approach with sequence(). You first find the min and max dates and use them to create distinct dates. This dates dataframe can then be cross joined with distinct ID values so that all ID values have all dates. The values from the value field can then be joined to the said cross joined dataframe to fetch all values. The remaining null values can be replaced with 0.
# convert date column to compatible format in the input dataframe
data_sdf = spark.sparkContext.parallelize(data_ls).toDF(['id', 'dt', 'val']). \
withColumn('dt', func.to_date('dt', 'yyyy/MM/dd'))
# +---+----------+---+
# | id| dt|val|
# +---+----------+---+
# |201|2022-02-11| 10|
# |201|2022-02-13| 2|
# |202|2022-02-09| 50|
# |202|2022-02-11| 1|
# |202|2022-02-12| 3|
# |401|2022-02-11| 12|
# |401|2022-02-12| 9|
# |401|2022-02-15| 15|
# +---+----------+---+
all_dt_sdf = data_sdf. \
select(func.min('dt').alias('min_dt'), func.max('dt').alias('max_dt')). \
withColumn('all_dts', func.expr('sequence(min_dt, max_dt, interval 1 day)')). \
select(func.explode('all_dts').alias('dt'))
# +----------+
# | dt|
# +----------+
# |2022-02-09|
# |2022-02-10|
# |2022-02-11|
# |2022-02-12|
# |2022-02-13|
# |2022-02-14|
# |2022-02-15|
# +----------+
data_sdf. \
select('id'). \
dropDuplicates(). \
crossJoin(all_dt_sdf). \
join(data_sdf, ['id', 'dt'], 'left'). \
fillna(0, subset=['val']). \
show()
# +---+----------+---+
# | id| dt|val|
# +---+----------+---+
# |201|2022-02-09| 0|
# |201|2022-02-10| 0|
# |201|2022-02-11| 10|
# |201|2022-02-12| 0|
# |201|2022-02-13| 2|
# |201|2022-02-14| 0|
# |201|2022-02-15| 0|
# |202|2022-02-09| 50|
# |202|2022-02-10| 0|
# |202|2022-02-11| 1|
# |202|2022-02-12| 3|
# |202|2022-02-13| 0|
# |202|2022-02-14| 0|
# |202|2022-02-15| 0|
# |401|2022-02-09| 0|
# |401|2022-02-10| 0|
# |401|2022-02-11| 12|
# |401|2022-02-12| 9|
# |401|2022-02-13| 0|
# |401|2022-02-14| 0|
# +---+----------+---+
# only showing top 20 rows
A short approach employing min() max() window functions
data_sdf. \
withColumn('data_min_dt', func.min('dt').over(wd.partitionBy(func.lit(1)))). \
withColumn('data_max_dt', func.max('dt').over(wd.partitionBy(func.lit(1)))). \
select('id', 'data_min_dt', 'data_max_dt'). \
dropDuplicates(). \
withColumn('all_dts', func.expr('sequence(data_min_dt, data_max_dt, interval 1 day)')). \
select('id', func.explode('all_dts').alias('dt')). \
join(data_sdf, ['id', 'dt'], 'left'). \
fillna(0, subset=['val']). \
orderBy(['id', 'dt']). \
show()
# +---+----------+---+
# | id| dt|val|
# +---+----------+---+
# |201|2022-02-09| 0|
# |201|2022-02-10| 0|
# |201|2022-02-11| 10|
# |201|2022-02-12| 0|
# |201|2022-02-13| 2|
# |201|2022-02-14| 0|
# |201|2022-02-15| 0|
# |202|2022-02-09| 50|
# |202|2022-02-10| 0|
# |202|2022-02-11| 1|
# |202|2022-02-12| 3|
# |202|2022-02-13| 0|
# |202|2022-02-14| 0|
# |202|2022-02-15| 0|
# |401|2022-02-09| 0|
# |401|2022-02-10| 0|
# |401|2022-02-11| 12|
# |401|2022-02-12| 9|
# |401|2022-02-13| 0|
# |401|2022-02-14| 0|
# +---+----------+---+
# only showing top 20 rows
