"""PointGimbal Behavior."""
from __future__ import annotations
# Copyright 2024 Universidad Politécnica de Madrid
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
#
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
#
# * Neither the name of the the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
__authors__ = 'Pedro Arias Pérez'
__copyright__ = 'Copyright (c) 2024 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'
import typing
from as2_msgs.action import PointGimbal
from as2_python_api.behavior_actions.behavior_handler import BehaviorHandler
from geometry_msgs.msg import Pose, PoseStamped
if typing.TYPE_CHECKING:
from ..drone_interface_base import DroneInterfaceBase
[docs]
class PointGimbalBehavior(BehaviorHandler):
"""PointGimbal Behavior."""
def __init__(self, drone: 'DroneInterfaceBase') -> None:
self.__drone = drone
try:
super().__init__(drone, PointGimbal, 'PointGimbalBehavior')
except self.BehaviorNotAvailable as err:
self.__drone.get_logger().warn(str(err))
[docs]
def start(self, pose: tuple[Pose, PoseStamped], frame_id: str,
wait_result: bool = False) -> bool:
"""Start behavior."""
goal_msg = PointGimbal.Goal()
pose_stamped = self.__get_pose(pose)
goal_msg.control.target.header.stamp = self.__drone.get_clock().now().to_msg()
goal_msg.control.target.header.frame_id = frame_id
goal_msg.control.target.vector.x = pose_stamped.position.x
goal_msg.control.target.vector.y = pose_stamped.position.y
goal_msg.control.target.vector.z = pose_stamped.position.z
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, pose: tuple[Pose, PoseStamped], frame_id: str):
"""Modify behavior."""
goal_msg = PointGimbal.Goal()
pose_stamped = self.__get_pose(pose)
goal_msg.control.target.header.stamp = self.__drone.get_clock().now().to_msg()
goal_msg.control.target.header.frame_id = frame_id # TODO
goal_msg.control.target.vector.x = pose_stamped.position.x
goal_msg.control.target.vector.y = pose_stamped.position.y
goal_msg.control.target.vector.z = pose_stamped.position.z
return super().modify(goal_msg)
def __get_pose(self, pose: tuple[Pose, PoseStamped]):
"""Get pose msg."""
if isinstance(pose, Pose):
return pose
if isinstance(pose, PoseStamped):
return pose.pose
raise self.GoalRejected('Goal format invalid')