
    ԏid                        d dl mZ d dlmZ d dlmZ d dlmZmZm	Z	 d dl
Z
ddlmZ  ed	       G d
 d             ZddZy)    )annotations)	dataclass)Path)DictListOptionalN   )WaypointT)frozenc                  (    e Zd ZU ded<   ddZddZy)WaypointRegistryzDict[str, Waypoint]	waypointsc                H    t        | j                  j                               S N)listr   values)selfs    </home/nelsen/Projects/HRI/edge-proxy/edge_proxy/waypoints.pyr   zWaypointRegistry.list   s    DNN))+,,    c                8    | j                   j                  |      S r   )r   get)r   names     r   r   zWaypointRegistry.get   s    ~~!!$''r   N)returnzList[Waypoint])r   strr   zOptional[Waypoint])__name__
__module____qualname____annotations__r   r    r   r   r   r      s    ""-(r   r   c                &   t        |       }|j                         st        i       S t        j                  |j                               xs i }|j                  d      xs g }i }|D ]  }t        |t              st        |j                  dd            j                         }|s@t        |t        |j                  dd            t        |j                  dd            t        |j                  dd            	      ||<    t        |      S )
N)r   r   r    xg        ytheta)r   r"   r#   r$   )r   existsr   yaml	safe_load	read_textr   
isinstancedictr   stripr
   float)pathppayloaditemswpsitemr   s          r   load_waypointsr3      s    T
A88:"--nnQ[[]+1rGKK$*E!C 
$%488FB'(..0DHHS#&'DHHS#&'#./	
D	
 c**r   )r-   r   r   r   )
__future__r   dataclassesr   pathlibr   typingr   r   r   r&   messagesr
   r   r3   r   r   r   <module>r9      s=    " !  ' '   $( ( (+r   