Source code for as2_python_api.shared_data.platform_info_data

"""Platform info data wrapper."""

# Copyright 2022 Universidad Politécnica de Madrid
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# modification, are permitted provided that the following conditions are met:
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#      this software without specific prior written permission.
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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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'

from dataclasses import dataclass, field
import threading
from typing import Callable, List, Union

from as2_msgs.msg import ControlMode, PlatformStatus


lock = threading.Lock()




def lock_decor(func: Callable) -> Callable:
    """Locker decorator."""

    def wrapper(self, *args, **kwargs) -> Callable:
        with lock:
            return func(self, *args, **kwargs)
    return wrapper





@dataclass
class PlatformInfoData:
    """Platform info."""

    __connected: bool = field(default_factory=lambda: False)
    __armed: bool = field(default_factory=lambda: False)
    __offboard: bool = field(default_factory=lambda: False)
    __state: int = field(default_factory=lambda: PlatformStatus.DISARMED)
    __yaw_mode: int = field(default_factory=lambda: ControlMode.NONE)
    __control_mode: int = field(default_factory=lambda: ControlMode.UNSET)
    __reference_frame: int = field(
        default_factory=lambda: ControlMode.UNDEFINED_FRAME)

    def __repr__(self) -> str:
        info = self.data
        return f'[{info[0]}, {info[1]}, {info[2]}, \
                 {info[3]}, {info[4]}, {info[5]}, {info[6]}]'

    @property
    @lock_decor
    def data(self) -> List[Union[bool, int]]:
        """Locked getter."""
        return [self.__connected, self.__armed, self.__offboard, self.__state,
                self.__yaw_mode, self.__control_mode, self.__reference_frame]

    @data.setter
    @lock_decor
    def data(self, dat: List[Union[bool, int]]) -> None:
        """Locked setter."""
        self.__connected = bool(dat[0])
        self.__armed = bool(dat[1])
        self.__offboard = bool(dat[2])
        self.__state = dat[3]
        self.__yaw_mode = dat[4]
        self.__control_mode = dat[5]
        self.__reference_frame = dat[6]