Source code for genericroboticarm.sila_server.feature_implementations.intermediateactionplanning_impl

# Generated by sila2.code_generator; sila2.__version__: 0.14.0
from __future__ import annotations

from typing import TYPE_CHECKING, List, Union

from sila2.framework import Command, Feature, FullyQualifiedIdentifier, Property
from sila2.server import MetadataDict

from ..generated.intermediateactionplanning import IntermediateActionPlanningBase
from ..generated.labwaretransfermanipulatorcontroller import LabwareTransferManipulatorControllerFeature

from genericroboticarm.robo_APIs import InteractiveTransfer

if TYPE_CHECKING:
    from ..server import Server




class IntermediateActionPlanningImpl(IntermediateActionPlanningBase):
    robot: InteractiveTransfer

    def __init__(self, parent_server: Server) -> None:
        super().__init__(parent_server=parent_server)
        assert isinstance(parent_server.robot, InteractiveTransfer)
        self.robot = parent_server.robot



    def get_PreparableIntermediateActions(self, *, metadata: MetadataDict) -> List[str]:
        return self.robot.preparable_intermediate_actions




    def get_calls_affected_by_PlannedIntermediateActions(
        self,
    ) -> List[Union[Feature, Command, Property, FullyQualifiedIdentifier]]:
        # PrepareForInput is the only transfer command that can make use of announced actions: it
        # is the one that runs while the arm would otherwise wait for the other device.
        # Metadata is only delivered to the calls it is declared for, and then it has to be sent
        # with every one of them. So an arm that cannot prepare any intermediate action declares
        # nothing here and its clients do not have to know this feature at all.
        if not self.robot.preparable_intermediate_actions:
            return []
        return [LabwareTransferManipulatorControllerFeature["PrepareForInput"]]