isar 1.20.2__py3-none-any.whl → 1.34.13__py3-none-any.whl

robot_interface/models/mission/step.py

@@ -1,234 +0,0 @@
-from dataclasses import dataclass, field
-from typing import Any, List, Literal, Optional, Type, Union
-
-from alitra import Pose, Position
-
-from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
-from robot_interface.models.inspection import (
-    Audio,
-    Image,
-    Inspection,
-    ThermalImage,
-    ThermalVideo,
-    Video,
-)
-from robot_interface.models.mission.status import StepStatus
-from robot_interface.utilities.uuid_string_factory import uuid4_string
-
-
-@dataclass
-class Step:
-    """
-    Base class for all steps in a mission.
-    """
-
-    id: str = field(default_factory=uuid4_string, init=False)
-    status: StepStatus = field(default=StepStatus.NotStarted, init=False)
-    error_message: Optional[ErrorMessage] = field(default=None, init=False)
-
-    def __str__(self) -> str:
-        def add_indent(text: str) -> str:
-            return "".join("  " + line for line in text.splitlines(True))
-
-        def robot_class_to_pretty_string(obj: Step) -> str:
-            log_message: str = ""
-            for attr in dir(obj):
-                if callable(getattr(obj, attr)) or attr.startswith("__"):
-                    continue
-
-                value: Any = getattr(obj, attr)
-                try:
-                    package_name: Optional[str] = (
-                        str(value.__class__).split("'")[1].split(".")[0]
-                    )
-                except (AttributeError, IndexError):
-                    package_name = None
-
-                if package_name == "robot_interface":
-                    log_message += (
-                        "\n" + attr + ": " + robot_class_to_pretty_string(value)
-                    )
-                else:
-                    log_message += "\n" + str(attr) + ": " + str(value)
-
-            return add_indent(log_message)
-
-        class_name: str = type(self).__name__
-        return class_name + robot_class_to_pretty_string(self)
-
-
-@dataclass
-class InspectionStep(Step):
-    """
-    Base class for all inspection steps which produce results to be uploaded.
-    """
-
-    inspections: List[Inspection] = field(default_factory=list, init=False)
-    tag_id: Optional[str] = field(default=None, init=False)
-    type = "inspection_type"
-    metadata: Optional[dict] = field(default_factory=dict, init=False)
-
-    @staticmethod
-    def get_inspection_type() -> Type[Inspection]:
-        return Inspection
-
-
-@dataclass
-class MotionStep(Step):
-    """
-    Base class for all steps which should move the robot, but not return a result.
-    """
-
-    pass
-
-
-@dataclass
-class ContinousInspectionStep(Step):
-    """
-    Base class for all continous inspection steps which produce a result to be uploaded.
-    """
-
-    pass
-
-
-@dataclass
-class DriveToPose(MotionStep):
-    """
-    Step which causes the robot to move to the given pose.
-    """
-
-    pose: Pose
-    type: Literal["drive_to_pose"] = "drive_to_pose"
-
-
-@dataclass
-class DockingProcedure(MotionStep):
-    """
-    Step which causes the robot to dock or undock
-    """
-
-    behavior: Literal["dock", "undock"]
-    type: Literal["docking_procedure"] = "docking_procedure"
-
-
-@dataclass
-class ReturnToHome(MotionStep):
-    """
-    Step which cases the robot to return home
-    """
-
-    pose: Pose
-    type: Literal["return_to_home"] = "return_to_home"
-
-
-@dataclass
-class Localize(MotionStep):
-    """
-    Step which causes the robot to localize
-    """
-
-    localization_pose: Pose
-    type: Literal["localize"] = "localize"
-
-
-@dataclass
-class MoveArm(MotionStep):
-    """
-    Step which causes the robot to move its arm
-    """
-
-    arm_pose: str
-    type: Literal["move_arm"] = "move_arm"
-
-
-@dataclass
-class TakeImage(InspectionStep):
-    """
-    Step which causes the robot to take an image towards the given coordinate.
-    """
-
-    target: Position
-    type: Literal["take_image"] = "take_image"
-
-    @staticmethod
-    def get_inspection_type() -> Type[Inspection]:
-        return Image
-
-
-@dataclass
-class TakeThermalImage(InspectionStep):
-    """
-    Step which causes the robot to take a thermal image towards the given coordinate.
-    """
-
-    target: Position
-    type: Literal["take_thermal_image"] = "take_thermal_image"
-
-    @staticmethod
-    def get_inspection_type() -> Type[Inspection]:
-        return ThermalImage
-
-
-@dataclass
-class TakeVideo(InspectionStep):
-    """
-    Step which causes the robot to take a video towards the given coordinate.
-
-    Duration of video is given in seconds.
-    """
-
-    target: Position
-    duration: float
-    type: Literal["take_video"] = "take_video"
-
-    @staticmethod
-    def get_inspection_type() -> Type[Inspection]:
-        return Video
-
-
-@dataclass
-class TakeThermalVideo(InspectionStep):
-    """
-    Step which causes the robot to record thermal video towards the given coordinate
-
-    Duration of video is given in seconds.
-    """
-
-    target: Position
-    duration: float
-    type: Literal["take_thermal_video"] = "take_thermal_video"
-
-    @staticmethod
-    def get_inspection_type() -> Type[Inspection]:
-        return ThermalVideo
-
-
-@dataclass
-class RecordAudio(InspectionStep):
-    """
-    Step which causes the robot to record a video at its position, facing the target.
-
-    Duration of audio is given in seconds.
-    """
-
-    target: Position
-    duration: float
-    type: Literal["record_audio"] = "record_audio"
-
-    @staticmethod
-    def get_inspection_type() -> Type[Inspection]:
-        return Audio
-
-
-STEPS = Union[
-    DriveToPose,
-    DockingProcedure,
-    ReturnToHome,
-    Localize,
-    TakeImage,
-    TakeThermalImage,
-    TakeVideo,
-    TakeThermalVideo,
-    RecordAudio,
-    MoveArm,
-]