Source code for as2_python_api.mission_interpreter.mission_stack

"""Mission stack of behaviors to be executed by the drone."""

from __future__ import annotations

# Copyright 2024 Universidad Politécnica de Madrid
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__authors__ = 'Pedro Arias Pérez'
__copyright__ = 'Copyright (c) 2024 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'

from collections import deque
from typing import Deque
from typing import TYPE_CHECKING

if TYPE_CHECKING:
    from as2_python_api.mission_interpreter.mission import MissionItem


[docs] class MissionStack: """Mission stack.""" def __init__(self, mission_stack: list = None) -> None: mission_stack = [] if mission_stack is None else mission_stack self.__pending: Deque[MissionItem] = deque(mission_stack) # FIFO self.__done: Deque[MissionItem] = deque() # LIFO self.__current: MissionItem = None def __str__(self) -> 'MissionItem': current = 'None' if self.current is None else self.current return current.json() + str(self.pending)
[docs] def next_item(self) -> 'MissionItem': """Get next item in the stack.""" if self.__current is not None: self.__done.append(self.__current) if len(self.pending) > 0: self.__current = self.__pending.popleft() else: self.__current = None return self.__current
[docs] def previous_item(self) -> 'MissionItem': """Get previous item in the stack.""" if self.__current is not None: self.__pending.appendleft(self.__current) self.__current = None if self.last_done is not None: self.__current = self.__done.pop() return self.__current
[docs] def add(self, item: 'MissionItem' | list['MissionItem']): """Add item(s) to the end of the stack.""" if not isinstance(item, list): item = [item] self.__pending.extend(item)
[docs] def insert(self, item: 'MissionItem' | list['MissionItem']): """Insert item(s) to the beggining of the stack.""" if not isinstance(item, list): item = [item] item.reverse() # Insert in reverse order self.__pending.extendleft(item)
@property def last_done(self): """Get last done item.""" if len(self.__done) == 0: return None return self.__done[0] @property def pending(self) -> list['MissionItem']: """Get pending items.""" return list(self.__pending) @property def done(self) -> list['MissionItem']: """Get done items.""" return list(self.__done) @property def current(self) -> 'MissionItem': """Get current item.""" if self.__current is None: return None return self.__current