feat: make HRIConnector and ARIConnector classes generic (#375)

src/rai/rai/communication/ari_connector.py

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from typing import Optional
+from typing import Generic, Optional, TypeVar
 
 from pydantic import Field
 
@@ -37,7 +37,10 @@ class ROS2RRIMessage(ARIMessage):
     )
 
 
-class ARIConnector(BaseConnector[ARIMessage]):
+T = TypeVar("T", bound=ARIMessage)
+
+
+class ARIConnector(Generic[T], BaseConnector[T]):
     """
     Base class for Agent-Robot Interface (ARI) connectors.
 

src/rai/rai/communication/base_connector.py

@@ -12,12 +12,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from abc import ABC, abstractmethod
-from typing import Any, Callable, Generic, Optional, TypeVar
+from abc import abstractmethod
+from typing import Any, Callable, Generic, Optional, Protocol, TypeVar
 from uuid import uuid4
 
 
-class BaseMessage(ABC):
+class BaseMessage(Protocol):
+    payload: Any
+
     def __init__(self, payload: Any, *args, **kwargs):
         self.payload = payload
 

src/rai/rai/communication/hri_connector.py

@@ -12,7 +12,16 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from typing import Annotated, List, Literal, Optional, Sequence
+from typing import (
+    Annotated,
+    Generic,
+    List,
+    Literal,
+    Optional,
+    Sequence,
+    TypeVar,
+    get_args,
+)
 
 from langchain_core.messages import AIMessage
 from langchain_core.messages import BaseMessage as LangchainBaseMessage
@@ -25,6 +34,11 @@
 from .base_connector import BaseConnector, BaseMessage
 
 
+class HRIException(Exception):
+    def __init__(self, msg):
+        super().__init__(msg)
+
+
 class HRIPayload(BaseModel):
     text: str
     images: Optional[Annotated[List[str], "base64 encoded png images"]] = None
@@ -42,8 +56,6 @@ def __init__(
         self.images = payload.images
         self.audios = payload.audios
 
-    # type: Literal["ai", "human"]
-
     def __repr__(self):
         return f"HRIMessage(type={self.message_author}, text={self.text}, images={self.images}, audios={self.audios})"
 
@@ -91,7 +103,10 @@ def from_langchain(
         )
 
 
-class HRIConnector(BaseConnector[HRIMessage]):
+T = TypeVar("T", bound=HRIMessage)
+
+
+class HRIConnector(Generic[T], BaseConnector[T]):
     """
     Base class for Human-Robot Interaction (HRI) connectors.
     Used for sending and receiving messages between human and robot from various sources.
@@ -105,19 +120,26 @@ def __init__(
     ):
         self.configured_targets = configured_targets
         self.configured_sources = configured_sources
+        if not hasattr(self, "__orig_bases__"):
+            self.__orig_bases__ = {}
+            raise HRIException(
+                f"Error while instantiating {str(self.__class__)}: Message type T derived from HRIMessage needs to be provided e.g. Connector[MessageType]()"
+            )
+        self.T_class = get_args(self.__orig_bases__[0])[0]
 
     def _build_message(
         self,
         message: LangchainBaseMessage | RAIMultimodalMessage,
-    ) -> HRIMessage:
-        return HRIMessage.from_langchain(message)
+    ) -> T:
+
+        return self.T_class.from_langchain(message)
 
     def send_all_targets(self, message: LangchainBaseMessage | RAIMultimodalMessage):
         for target in self.configured_targets:
             to_send = self._build_message(message)
             self.send_message(to_send, target)
 
-    def receive_all_sources(self, timeout_sec: float = 1.0) -> dict[str, HRIMessage]:
+    def receive_all_sources(self, timeout_sec: float = 1.0) -> dict[str, T]:
         ret = {}
         for source in self.configured_sources:
             received = self.receive_message(source, timeout_sec)

src/rai/rai/communication/sound_device_connector.py

@@ -62,7 +62,7 @@ def __init__(self, config: AudioInputDeviceConfig):
         self.dtype = config["dtype"]
 
 
-class StreamingAudioInputDevice(HRIConnector):
+class StreamingAudioInputDevice(HRIConnector[HRIMessage]):
     """Audio input device connector implementing the Human-Robot Interface.
 
     This class provides audio streaming capabilities while conforming to the