Source code for as2_python_api.behavior_actions.land_behavior

"""Land Behavior."""

# Copyright 2022 Universidad Politécnica de Madrid
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__authors__ = 'Miguel Fernández Cortizas, Pedro Arias Pérez, David Pérez Saura, Rafael Pérez Seguí'
__copyright__ = 'Copyright (c) 2022 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'

import typing

from as2_msgs.action import Land

from ..behavior_actions.behavior_handler import BehaviorHandler

if typing.TYPE_CHECKING:
    from ..drone_interface_base import DroneInterfaceBase


[docs] class LandBehavior(BehaviorHandler): """Land Behavior.""" def __init__(self, drone: 'DroneInterfaceBase') -> None: self.__drone = drone try: super().__init__(drone, Land, 'LandBehavior') except self.BehaviorNotAvailable as err: self.__drone.get_logger().warn(str(err))
[docs] def start(self, speed: float, wait_result: bool = True) -> bool: """Start landing.""" goal_msg = Land.Goal() goal_msg.land_speed = speed try: return super().start(goal_msg, wait_result) except self.GoalRejected as err: self.__drone.get_logger().warn(str(err)) return False
[docs] def modify(self, speed: float): """Modify landing.""" goal_msg = Land.Goal() goal_msg.land_speed = speed return super().modify(goal_msg)