litchi_wp.action

  1"""
  2Module for litchi waypoint actions
  3"""
  4# pylint: disable=import-error
  5from litchi_wp.enums import ActionType
  6
  7
  8class Action:
  9    """
 10    Class respresenting a litchi waypoint action
 11
 12    Attributes:
 13        type (ActionType): The type of the action
 14        param (int | float): The parameter of the action. Depends on the actiontype
 15
 16    """
 17
 18    def __init__(
 19            self,
 20            actiontype: ActionType = ActionType.NO_ACTION,
 21            param: int | float = 0
 22    ):
 23        """
 24        Constructor
 25
 26        Args:
 27            actiontype (ActionType): The type of the action
 28            param (float): The parameter of the action. Depends on the actiontype
 29
 30                - Stay For (time in milliseconds),
 31                - Rotate Aircraft (angle in degrees),
 32                - Tilt Camera (angle in degrees)
 33                - Take Photo (set to 0)
 34                - Start Recording (set to 0)
 35                - Stop Recording (set to 0)
 36
 37        Raises:
 38            ValueError: If actiontype is no valid ActionType or param cannot be float
 39
 40        """
 41        self.type: ActionType = ActionType(actiontype)
 42        self.param = float(param)
 43
 44    def set_type(self, actiontype: ActionType):
 45        """
 46        Setter for the type of the action
 47
 48        Args:
 49            actiontype (Actiontype): The type of the action
 50
 51        Raises:
 52            ValueError: If actiontype is no valid ActionType
 53
 54        """
 55        self.type = ActionType(actiontype)
 56
 57    def set_param(self, param: int | float):
 58        """
 59        Setter for the action parameter
 60
 61        Args:
 62            param (int | float): The parameter of the action. Depends on the actiontype
 63
 64                - Stay For (time in milliseconds),
 65                - Rotate Aircraft (angle in degrees),
 66                - Tilt Camera (angle in degrees)
 67
 68        Raises:
 69            ValueError: If param cannot be float
 70
 71        """
 72        self.param = float(param)
 73
 74    def delete(self):
 75        """
 76        Clear action
 77        """
 78        self.type = ActionType.NO_ACTION
 79        self.param = 0
 80
 81    def set_stay_for(self, msec: int):
 82        """
 83        Setter for 'Stay For' action
 84
 85        Args:
 86            msec (int): Time to stay in milliseconds
 87
 88        Raises:
 89            ValueError: If msec cannot be int or msec < 0 or msec > 32000
 90
 91        """
 92        if int(msec) < 0 or int(msec) > 32000:
 93            raise ValueError('allowed range is 0 to 32000')
 94        self.type = ActionType.STAY_FOR
 95        self.param = int(msec)
 96
 97    def set_take_photo(self):
 98        """
 99        Setter for 'Take Photo' action
100        """
101        self.type = ActionType.TAKE_PHOTO
102        self.param = 0
103
104    def set_start_rec(self):
105        """
106        Setter for 'Start Recording' action
107        """
108        self.type = ActionType.START_RECORDING
109        self.param = 0
110
111    def set_stop_rec(self):
112        """
113        Setter for 'Stop Recording' action
114        """
115        self.type = ActionType.STOP_RECORDING
116        self.param = 0
117
118    def set_rotate(self, deg: int | float):
119        """
120        Setter for 'Rotate Aircraft' action
121
122        Args:
123            deg (int | float): Rotation in degrees
124
125        Raises:
126            ValueError: If deg cannot be float or deg < 0 or deg > 359
127
128        """
129        if float(deg) < 0 or float(deg) > 359:
130            raise ValueError('allowed range is 0 to 359')
131        self.type = ActionType.ROTATE_AIRCRAFT
132        self.param = float(deg)
133
134    def set_tilt_cam(self, deg: int | float):
135        """
136        Setter for 'Tilt Camera' action
137
138        Args:
139            deg (int | float): Tiltangle in degrees
140
141        Raises:
142            ValueError: If deg cannot be float or deg < -90 or deg > 30
143
144        """
145        if float(deg) < -90 or float(deg) > 30:
146            raise ValueError('allowed range is -90 to 30')
147        self.type = ActionType.TILT_CAMERA
148        self.param = float(deg)