"""Module Base."""
# Copyright 2022 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)
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# POSSIBILITY OF SUCH DAMAGE.
__authors__ = 'Pedro Arias Pérez'
__copyright__ = 'Copyright (c) 2022 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'
from typing import Callable, TYPE_CHECKING
from as2_python_api.mission_interpreter.mission import MissionItem
if TYPE_CHECKING:
from ..drone_interface import DroneInterface
[docs]
class ModuleBase:
"""Module Base."""
__alias__ = ''
__deps__ = []
def __init__(self, drone: 'DroneInterface', alias: str) -> None:
# ModuleBase used as mixin to call __init methods from next items at the mro
try:
super().__init__(drone)
except TypeError:
super().__init__()
self.__drone = drone
self.__alias__ = alias
self.__drone.modules[self.__alias__] = self
def __del__(self):
try:
# Delete when unloading module
del self.__drone.modules[self.__alias__]
except KeyError:
pass # Avoid exception when DroneInterface destruction
[docs]
@classmethod
def get_plan_item(cls, method_name: Callable = None, *args, **kwargs) -> MissionItem:
"""
Get a MissionItem from a method call.
:param method_name: Method to be called. Defaults to "cls.__call__".
:type method_name: Callable, optional
:return: MissionItem with the method call
:rtype: MissionItem
"""
if method_name is None:
method_name = cls.__call__ # Use the default __call__ method
alias = cls.__alias__ # Access alias from the child class
method_name_str = method_name.__name__
# Convert positional arguments to a dictionary
arg_dict = {key: value for key, value in zip(method_name.__code__.co_varnames[1:], args)}
# Include keyword arguments in the dictionary
arg_dict.update(kwargs)
return MissionItem(behavior=alias, method=method_name_str, args=arg_dict)