Changed type annotations to follow PEP 604.

field_friend/localization/gnss.py

@@ -6,7 +6,7 @@
 from abc import ABC, abstractmethod
 from copy import deepcopy
 from dataclasses import dataclass
-from typing import Any, Optional
+from typing import Any
 
 import numpy as np
 import rosys
@@ -24,7 +24,7 @@ class GNSSRecord:
     gps_qual: int = 0
     altitude: float = 0.0
     separation: float = 0.0
-    heading: Optional[float] = None
+    heading: float | None = None
     speed_kmh: float = 0.0
 
 
@@ -49,7 +49,7 @@ def __init__(self, odometer: rosys.driving.Odometer, antenna_offset: float) -> N
         self.GNSS_CONNECTION_LOST = rosys.event.Event()
         """the GNSS connection was lost"""
 
-        self.current: Optional[GNSSRecord] = None
+        self.current: GNSSRecord | None = None
         self.device: str | None = None
         self.antenna_offset = antenna_offset
         self._is_paused = False
@@ -107,7 +107,7 @@ def is_paused(self) -> bool:
         return self._is_paused
 
     @abstractmethod
-    async def _create_new_record(self) -> Optional[GNSSRecord]:
+    async def _create_new_record(self) -> GNSSRecord | None:
         pass
 
     def _on_rtk_fix(self) -> None:
@@ -136,7 +136,7 @@ def _on_rtk_fix(self) -> None:
         if not self._is_paused:
             self._update_robot_pose()
 
-    async def wait_for_robot_pose_update(self, timeout: Optional[float] = None) -> None:
+    async def wait_for_robot_pose_update(self, timeout: float | None = None) -> None:
         event = asyncio.Event()
         def callback():
             nonlocal event