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