From 026310da1e3a35d6869d97944825d583457137a7 Mon Sep 17 00:00:00 2001
From: Stephen Hockema <stephen.hockema1@huawei.com>
Date: Wed, 29 Dec 2021 14:26:09 -0500
Subject: [PATCH 1/2] type hint fixes as detected by a pytype experiment

---
 smarts/core/smarts.py                   | 23 ++++++++++++-----------
 smarts/core/traffic_history_provider.py |  4 ++--
 2 files changed, 14 insertions(+), 13 deletions(-)

diff --git a/smarts/core/smarts.py b/smarts/core/smarts.py
index b9406053fd..08b44af371 100644
--- a/smarts/core/smarts.py
+++ b/smarts/core/smarts.py
@@ -23,7 +23,7 @@
 import os
 import warnings
 from collections import defaultdict
-from typing import List, Optional, Sequence
+from typing import List, Optional, Set
 
 import numpy as np
 
@@ -81,8 +81,8 @@ def __init__(
         self,
         agent_interfaces,
         traffic_sim,  # SumoTrafficSimulation
-        envision: EnvisionClient = None,
-        visdom: VisdomClient = None,
+        envision: Optional[EnvisionClient] = None,
+        visdom: Optional[VisdomClient] = None,
         fixed_timestep_sec: float = 0.1,
         reset_agents_only: bool = False,
         zoo_addrs=None,
@@ -91,10 +91,10 @@ def __init__(
         self._log = logging.getLogger(self.__class__.__name__)
         self._sim_id = Id.new("smarts")
         self._is_setup = False
-        self._scenario: Scenario = None
+        self._scenario: Optional[Scenario] = None
         self._renderer = None
-        self._envision: EnvisionClient = envision
-        self._visdom: VisdomClient = visdom
+        self._envision: Optional[EnvisionClient] = envision
+        self._visdom: Optional[VisdomClient] = visdom
         self._traffic_sim = traffic_sim
         self._external_provider = None
 
@@ -148,7 +148,7 @@ def __init__(
         self._vehicle_states = []
 
         self._bubble_manager = None
-        self._trap_manager: TrapManager = None
+        self._trap_manager: Optional[TrapManager] = None
 
         self._ground_bullet_id = None
         self._map_bb = None
@@ -320,6 +320,7 @@ def reset(self, scenario: Scenario):
                 ids = self._vehicle_index.vehicle_ids_by_actor_id(agent_id)
                 vehicle_ids_to_teardown.extend(ids)
             self._teardown_vehicles(set(vehicle_ids_to_teardown))
+            assert self._trap_manager
             self._trap_manager.init_traps(scenario.road_map, scenario.missions)
             self._agent_manager.init_ego_agents(self)
             if self._renderer:
@@ -399,7 +400,7 @@ def add_agent_and_switch_control(
         agent_id: str,
         agent_interface: AgentInterface,
         mission: Mission,
-    ) -> Vehicle:
+    ):
         self.agent_manager.add_ego_agent(agent_id, agent_interface, for_trap=False)
         vehicle = self.switch_control_to_agent(
             vehicle_id, agent_id, mission, recreate=False, is_hijacked=True
@@ -651,7 +652,7 @@ def elapsed_sim_time(self) -> float:
     def version(self) -> str:
         return VERSION
 
-    def teardown_agents_without_vehicles(self, agent_ids: Sequence):
+    def teardown_agents_without_vehicles(self, agent_ids: Set[str]):
         """
         Teardown agents in the given list that have no vehicles registered as
         controlled-by or shadowed-by
@@ -816,7 +817,7 @@ def _reset_providers(self):
         for provider in self.providers:
             provider.reset()
 
-    def _step_providers(self, actions) -> List[VehicleState]:
+    def _step_providers(self, actions) -> ProviderState:
         accumulated_provider_state = ProviderState()
 
         def agent_controls_vehicles(agent_id):
@@ -1073,7 +1074,7 @@ def _check_ground_plane(self):
             )
             self._setup_pybullet_ground_plane(self._bullet_client)
 
-    def _try_emit_envision_state(self, provider_state, obs, scores):
+    def _try_emit_envision_state(self, provider_state: ProviderState, obs, scores):
         if not self._envision:
             return
 
diff --git a/smarts/core/traffic_history_provider.py b/smarts/core/traffic_history_provider.py
index 2077ca2c18..cf555ba212 100644
--- a/smarts/core/traffic_history_provider.py
+++ b/smarts/core/traffic_history_provider.py
@@ -18,7 +18,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 
-from typing import Optional, Set
+from typing import Iterable, Optional, Set
 
 import numpy as np
 
@@ -59,7 +59,7 @@ def setup(self, scenario) -> ProviderState:
         self._is_setup = True
         return ProviderState()
 
-    def set_replaced_ids(self, vehicle_ids: list):
+    def set_replaced_ids(self, vehicle_ids: Iterable[str]):
         self._replaced_vehicle_ids.update(vehicle_ids)
 
     def get_history_id(self, vehicle_id: str) -> Optional[str]:

From e1b0a528e41ebb74709f35417788af563beac327 Mon Sep 17 00:00:00 2001
From: Stephen Hockema <stephen.hockema1@huawei.com>
Date: Wed, 29 Dec 2021 14:44:16 -0500
Subject: [PATCH 2/2] change Set to Iterable to avoid being overly restrictive

---
 smarts/core/smarts.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/smarts/core/smarts.py b/smarts/core/smarts.py
index 08b44af371..b15b6cb4f2 100644
--- a/smarts/core/smarts.py
+++ b/smarts/core/smarts.py
@@ -23,7 +23,7 @@
 import os
 import warnings
 from collections import defaultdict
-from typing import List, Optional, Set
+from typing import Iterable, List, Optional
 
 import numpy as np
 
@@ -652,7 +652,7 @@ def elapsed_sim_time(self) -> float:
     def version(self) -> str:
         return VERSION
 
-    def teardown_agents_without_vehicles(self, agent_ids: Set[str]):
+    def teardown_agents_without_vehicles(self, agent_ids: Iterable[str]):
         """
         Teardown agents in the given list that have no vehicles registered as
         controlled-by or shadowed-by