"""Twist data wrapper."""
from __future__ import annotations
# 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)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
__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
lock = threading.Lock()
[docs]
def lock_decor(func: Callable) -> Callable:
"""Locker."""
def wrapper(self, *args, **kwargs) -> Callable:
with lock:
return func(self, *args, **kwargs)
return wrapper
[docs]
@dataclass
class TwistData:
"""Twist data [vx, vy, vz]."""
__vx: float = field(default_factory=lambda: float('nan'))
__vy: float = field(default_factory=lambda: float('nan'))
__vz: float = field(default_factory=lambda: float('nan'))
def __repr__(self) -> str:
twist = self.twist
return f'[{twist[0]}, {twist[1]}, {twist[2]}]'
@property
@lock_decor
def twist(self) -> List[float]:
"""Locked getter."""
return [self.__vx, self.__vy, self.__vz]
@twist.setter
@lock_decor
def twist(self, twist_: List[float]) -> None:
"""Locked setter."""
self.__vx = twist_[0]
self.__vy = twist_[1]
self.__vz = twist_[2]