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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__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()


[docs] def lock_decor(func: Callable) -> Callable: """Locker decorator.""" def wrapper(self, *args, **kwargs) -> Callable: with lock: return func(self, *args, **kwargs) return wrapper
[docs] @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]