kll/common/position.py

#!/usr/bin/env python3
'''
KLL Position Containers
'''

# Copyright (C) 2016 by Jacob Alexander
#
# This file is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This file is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this file.  If not, see <http://www.gnu.org/licenses/>.

### Imports ###



### Decorators ###

## Print Decorator Variables
ERROR = '\033[5;1;31mERROR\033[0m:'
WARNING = '\033[5;1;33mWARNING\033[0m:'



### Classes ###

class Position:
	'''
	Identifier position
	Each position can have up to 6 different types of measurements

	Distance:
	x
	y
	z

	Angular:
	ry
	ry
	rz
	'''
	_parameters = [ 'x', 'y', 'z', 'rx', 'ry', 'rz' ]
	x = None
	y = None
	z = None
	rx = None
	ry = None
	rz = None

	def __init( self ):
		# Set all the _parameters to None
		for param in self._parameters:
			setattr( self, param, None )

	def positionSet( self ):
		'''
		Returns True if any position has been set
		'''
		for param in self._parameters:
			if getattr( self, param ) is not None:
				return True
		return False

	def setPosition( self, positions ):
		'''
		Applies given list of position measurements

		None signifies an undefined position which may be assigned at a later point.
		Otherwise, it will be set to 0 at a later stage

		If a position is already set, do not overwrite, expressions are read inside->out
		'''
		for position in positions:
			name = position[0]
			value = position[1]

			# Check to make sure parameter is valid
			if name not in self._parameters:
				print( "{0} '{1}' is not a valid position parameter.".format( ERROR, name ) )
				continue

			# Only set if None
			if getattr( self, name ) is None:
				setattr( self, name, value )

	def strPosition( self ):
		'''
		__repr__ of Position when multiple inheritance is used
		'''
		output = ""

		# Check each of the position parameters, only show the ones that are not None
		count = 0
		for param in self._parameters:
			value = getattr( self, param )
			if value is not None:
				if count > 0:
					output += ","
				output += "{0}:{1}".format( param, value )
				count += 1

		return output

	def __repr__( self ):
		return self.strPosition()