Fix dsd stuff

bitbots_motion/bitbots_animation_server/bitbots_animation_server/__init__.py

@@ -1,3 +1,4 @@
 # Setting up runtime type checking for this package
 from beartype.claw import beartype_this_package
+
 beartype_this_package()

bitbots_motion/bitbots_hcm/bitbots_hcm/__init__.py

@@ -0,0 +1,4 @@
+# Setting up runtime type checking for this package
+from beartype.claw import beartype_this_package
+
+beartype_this_package()

bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/__init__.py

@@ -1,7 +1,3 @@
-# Setting up runtime type checking for this package
-from beartype.claw import beartype_this_package
-beartype_this_package()
-
 from bitbots_hcm.hcm_dsd import actions, decisions, hcm_blackboard
 
 __all__ = ["actions", "decisions", "hcm_blackboard"]

bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/actions/__init__.py

@@ -1,7 +1,13 @@
+# Setting up runtime type checking for this package
+# We need to do this again here because the dsd imports
+# the decisions and actions from this package in a standalone way
+from beartype.claw import beartype_this_package
 from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 
 from bitbots_hcm.hcm_dsd.hcm_blackboard import HcmBlackboard
 
+beartype_this_package()
+
 
 class AbstractHCMActionElement(AbstractActionElement):
     """

bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/actions/state.py

@@ -1,6 +1,7 @@
 from abc import ABC, abstractmethod
 
 from bitbots_hcm.hcm_dsd.actions import AbstractHCMActionElement
+from bitbots_hcm.type_utils import T_RobotControlState
 from bitbots_msgs.msg import RobotControlState
 
 
@@ -11,7 +12,7 @@ class AbstractRobotState(AbstractHCMActionElement, ABC):
     """
 
     @abstractmethod
-    def get_state(self) -> RobotControlState:
+    def get_state(self) -> T_RobotControlState:
         """
         Returns the state which should be set. This will be implemented by the subclasses.
         """
@@ -27,65 +28,65 @@ def perform(self, reevaluate=False):
 
 
 class RobotStateStartup(AbstractRobotState):
-    def get_state(self) -> RobotControlState:
+    def get_state(self) -> T_RobotControlState:
         return RobotControlState.STARTUP
 
 
 class RobotStateControllable(AbstractRobotState):
-    def get_state(self) -> RobotControlState:
+    def get_state(self) -> T_RobotControlState:
         return RobotControlState.CONTROLLABLE
 
 
 class RobotStateWalking(AbstractRobotState):
-    def get_state(self) -> RobotControlState:
+    def get_state(self) -> T_RobotControlState:
         return RobotControlState.WALKING
 
 
 class RobotStateAnimationRunning(AbstractRobotState):
-    def get_state(self) -> RobotControlState:
+    def get_state(self) -> T_RobotControlState:
         return RobotControlState.ANIMATION_RUNNING
 
 
 class RobotStatePickedUp(AbstractRobotState):
-    def get_state(self) -> RobotControlState:
+    def get_state(self) -> T_RobotControlState:
         return RobotControlState.PICKED_UP
 
 
 class RobotStateFalling(AbstractRobotState):
-    def get_state(self) -> RobotControlState:
+    def get_state(self) -> T_RobotControlState:
         return RobotControlState.FALLING
 
 
 class RobotStateFallen(AbstractRobotState):
-    def get_state(self) -> RobotControlState:
+    def get_state(self) -> T_RobotControlState:
         return RobotControlState.FALLEN
 
 
 class RobotStateGettingUp(AbstractRobotState):
-    def get_state(self) -> RobotControlState:
+    def get_state(self) -> T_RobotControlState:
         return RobotControlState.GETTING_UP
 
 
 class RobotStatePenalty(AbstractRobotState):
-    def get_state(self) -> RobotControlState:
+    def get_state(self) -> T_RobotControlState:
         return RobotControlState.PENALTY
 
 
 class RobotStateRecord(AbstractRobotState):
-    def get_state(self) -> RobotControlState:
+    def get_state(self) -> T_RobotControlState:
         return RobotControlState.RECORD
 
 
 class RobotStateKicking(AbstractRobotState):
-    def get_state(self) -> RobotControlState:
+    def get_state(self) -> T_RobotControlState:
         return RobotControlState.KICKING
 
 
 class RobotStateHardwareProblem(AbstractRobotState):
-    def get_state(self) -> RobotControlState:
+    def get_state(self) -> T_RobotControlState:
         return RobotControlState.HARDWARE_PROBLEM
 
 
 class RobotStateMotorOff(AbstractRobotState):
-    def get_state(self) -> RobotControlState:
+    def get_state(self) -> T_RobotControlState:
         return RobotControlState.MOTOR_OFF

bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/decisions/__init__.py

@@ -1,7 +1,13 @@
+# Setting up runtime type checking for this package
+# We need to do this again here because the dsd imports
+# the decisions and actions from this package in a standalone way
+from beartype.claw import beartype_this_package
 from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
 
 from bitbots_hcm.hcm_dsd.hcm_blackboard import HcmBlackboard
 
+beartype_this_package()
+
 
 class AbstractHCMDecisionElement(AbstractDecisionElement):
     """

bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/hcm_blackboard.py

@@ -1,4 +1,4 @@
-from typing import List, Literal, Optional
+from typing import List, Optional
 
 import numpy
 from bitbots_utils.utils import get_parameters_from_other_node_sync
@@ -12,6 +12,7 @@
 from std_srvs.srv import Empty as EmptySrv
 from std_srvs.srv import SetBool
 
+from bitbots_hcm.type_utils import T_RobotControlState
 from bitbots_msgs.action import Dynup, PlayAnimation
 from bitbots_msgs.msg import Audio, JointTorque, RobotControlState
 from bitbots_msgs.srv import SetTeachingMode
@@ -22,23 +23,7 @@ def __init__(self, node: Node):
         self.node = node
 
         # Basic state
-        self.current_state: Literal[
-            RobotControlState.CONTROLLABLE,
-            RobotControlState.FALLING,
-            RobotControlState.FALLEN,
-            RobotControlState.GETTING_UP,
-            RobotControlState.ANIMATION_RUNNING,
-            RobotControlState.STARTUP,
-            RobotControlState.SHUTDOWN,
-            RobotControlState.PENALTY,
-            RobotControlState.RECORD,
-            RobotControlState.WALKING,
-            RobotControlState.MOTOR_OFF,
-            RobotControlState.HCM_OFF,
-            RobotControlState.HARDWARE_PROBLEM,
-            RobotControlState.PICKED_UP,
-            RobotControlState.KICKING
-        ] = RobotControlState.STARTUP
+        self.current_state: T_RobotControlState = RobotControlState.STARTUP
         self.stopped: bool = False
 
         # Save start time

bitbots_motion/bitbots_hcm/bitbots_hcm/humanoid_control_module.py

@@ -24,6 +24,7 @@
 
 from bitbots_hcm import hcm_dsd
 from bitbots_hcm.hcm_dsd.hcm_blackboard import HcmBlackboard
+from bitbots_hcm.type_utils import T_RobotControlState
 from bitbots_msgs.msg import FootPressure, RobotControlState
 from bitbots_msgs.srv import ManualPenalize, SetTeachingMode
 
@@ -34,13 +35,13 @@ def __init__(self, use_sim_time, simulation_active, visualization_active):
         node_name = "hcm_py"
 
         # Load parameters from yaml file because this is a hacky cpp python hybrid node for performance reasons
-        parameter_msgs: list(ParameterMsg) = get_parameters_from_ros_yaml(
+        parameter_msgs: list[ParameterMsg] = get_parameters_from_ros_yaml(
             node_name, f"{get_package_share_directory('bitbots_hcm')}/config/hcm_wolfgang.yaml", use_wildcard=True
         )
         parameters = [
             Parameter("use_sim_time", type_=Parameter.Type.BOOL, value=use_sim_time),
             Parameter("simulation_active", type_=Parameter.Type.BOOL, value=simulation_active),
-            Parameter("visualization_active", type_=Parameter.Type.BOOL, value=visualization_active)
+            Parameter("visualization_active", type_=Parameter.Type.BOOL, value=visualization_active),
         ]
         parameters.extend(map(Parameter.from_parameter_msg, parameter_msgs))
 
@@ -158,7 +159,7 @@ def diag_cb(self, msg: DiagnosticArray):
             elif "/Pressure" in status.name:
                 self.blackboard.pressure_diag_error = status.level in (DiagnosticStatus.ERROR, DiagnosticStatus.STALE)
 
-    def get_state(self) -> RobotControlState:
+    def get_state(self) -> T_RobotControlState:
         """Returns the current state of the HCM."""
         return self.blackboard.current_state
 

bitbots_motion/bitbots_hcm/bitbots_hcm/type_utils.py

@@ -0,0 +1,21 @@
+from typing import Literal, TypeAlias
+
+from bitbots_msgs.msg import RobotControlState
+
+T_RobotControlState: TypeAlias = Literal[
+    RobotControlState.CONTROLLABLE,
+    RobotControlState.FALLING,
+    RobotControlState.FALLEN,
+    RobotControlState.GETTING_UP,
+    RobotControlState.ANIMATION_RUNNING,
+    RobotControlState.STARTUP,
+    RobotControlState.SHUTDOWN,
+    RobotControlState.PENALTY,
+    RobotControlState.RECORD,
+    RobotControlState.WALKING,
+    RobotControlState.MOTOR_OFF,
+    RobotControlState.HCM_OFF,
+    RobotControlState.HARDWARE_PROBLEM,
+    RobotControlState.PICKED_UP,
+    RobotControlState.KICKING,
+]