
    虉i                    R    d dl mZ d dlZd dlmZ ddlmZmZmZm	Z	  G d de      Z
y)    )annotationsN)Optional   )
NavBackend	NavUpdateNavUpdateCallbackPose2Dc                  T    e Zd ZddZddZddZ	 d	 	 	 	 	 	 	 	 	 	 	 	 	 d	dZd
ddZy)MockNavBackendc                     d| _         d | _        y )NF)
_cancelled_active_request_idselfs    K/home/nelsen/Projects/HRI/edge-proxy/edge_proxy/nav_backend/mock_backend.py__init__zMockNavBackend.__init__
   s     %15    c                   K   y wN r   s    r   startzMockNavBackend.start   	        c                   K   y wr   r   r   s    r   stopzMockNavBackend.stop   r   r   c                  K   |}d| _         || _         |t        dd             d {    d}t        d|dz         D ]  }	t	        j
                  d       d {    | j                   r<| j                  |k(  r- |t        dt        d|	dz
  |z                     d {     y  |t        d	|	|z               d {      |t        d
d             d {    y 7 7 7 F7 (7 w)NFacceptedg        )statusprogress
   r   g      ?	cancelled
navigatingarrivedg      ?)r   r   r   rangeasynciosleepmax)
r   
request_iddestinationposespeed	on_updateframe_id_stepsis
             r   navigate_to_posezMockNavBackend.navigate_to_pose   s      ",	cBCCCq%!)$ 	PA--%%%4#:#:j#H	s3QRUVQVZ_P_G` abbbI\AINOOO	P 	SABBB 	D &bOBsX   'C-C#0C-C%AC- C'!C- C)C-C+C-%C-'C-)C-+C-c                :   K   | j                   |k(  rd| _        y y w)NT)r   r   )r   r(   reasons      r   cancelzMockNavBackend.cancel-   s      ""j0"DO 1s   N)returnNone)map)r(   strr)   r8   r*   r	   r+   r8   r,   r   r-   r8   r5   r6   ) )r(   r8   r3   r8   r5   r6   )__name__
__module____qualname__r   r   r   r1   r4   r   r   r   r   r   	   sl    6 CC C 	C
 C %C C 
C2#r   r   )
__future__r   r%   typingr   baser   r   r   r	   r   r   r   r   <module>r@      s     "   B B&#Z &#r   