m i dZddlmZddlZddlmZmZddlZddlm Z m Z m Z m Z m Z mZGddZeGdd Zy) zPeriodic trigger system for actions during navigation. This module provides a mechanism to execute actions periodically during long-running operations like navigation, with support for progress-based and conditional triggering. ) annotationsN) dataclassfield)AnyCallableDictListOptionalSetcNeZdZdZ d d dZd dZd dZd dZd dZy)TriggerConditionaCondition for when a trigger should fire. Attributes: interval_sec: Time-based trigger interval in seconds progress_milestones: Progress-based triggers (0.0-1.0) e.g., [0.25, 0.5, 0.75] while_navigating: If True, only trigger during active navigation Ncf||_t|xsg|_||_t|_y)aInitialize TriggerCondition. Args: interval_sec: Time interval in seconds (e.g., 2.0 for every 2 seconds) progress_milestones: List of progress points (0.0-1.0) to trigger at while_navigating: Only fire during active navigation state N) interval_secsetprogress_milestoneswhile_navigating_fired_milestones)selfrrrs ?/home/nelsen/Projects/HRI/orchestrator/src/executor/triggers.py__init__zTriggerCondition.__init__s3)#&':'@b#A 0.1Uc:|jy||jk\S)zCheck if trigger should fire based on elapsed time. Args: elapsed_sec: Time elapsed since start Returns: True if interval_sec is set and enough time has passed F)r)r elapsed_secs rshould_fire_timez!TriggerCondition.should_fire_time2s$    $d////rcR|jD]}||k\s ||jvsyy)zCheck if trigger should fire based on progress milestone. Args: current_progress: Current progress (0.0-1.0) Returns: True if a new milestone has been reached (not yet fired) TF)rr)rcurrent_progress milestones rshould_fire_progressz%TriggerCondition.should_fire_progress?s611 I9,$BXBX1X rch|jD]#}||k\s |jj|%y)z_Mark a milestone as fired. Args: progress: Progress value to mark N)rradd)rprogressrs rmark_milestone_firedz%TriggerCondition.mark_milestone_firedMs5 11 6I9$&&**95 6rc8|jjy)z-Reset trigger state (clear fired milestones).N)rclearrs rresetzTriggerCondition.resetWs $$&r)NNT)rzOptional[float]rzOptional[List[float]]rboolreturnNone)rfloatr(r')rr*r(r'r!r*r(r)r(r)) __name__ __module__ __qualname____doc__rrrr"r&rrr r sQ)-59!% 3%333 3  3( 0 6'rr ceZdZUdZded<ded<ded<dZd ed <ed d Zd ed<edd Zded<edd Z ded<edd Z ded<ee jd Z ded<ddZddZddZddZddZddZy) PeriodicTriggeraDA periodic trigger that executes an action based on conditions. Attributes: action_id: The action to execute (e.g., "SCAN_AREA", "SPEAK") condition: TriggerCondition defining when to fire on_fire: Callback function to execute when trigger fires logger: Logger instance for debugging str action_idr conditionzCallable[[], Any]on_fireNzOptional[logging.Logger]loggerF)defaultinitr'_runningzOptional[asyncio.Task]_taskr* _start_time_current_progress)default_factoryr:z asyncio.Event _stop_eventc|jr6|jr'|jjd|jydyd|_|jj t jj|_ d|_ |jjt j|j|_|jr'|jj!d|jyy)zStart the periodic trigger. Creates a background task that monitors conditions and fires the trigger when conditions are met. zTrigger '%s' is already runningNTr=zTrigger '%s' started)r;r8warningr5rAr$asyncioget_event_looptimer>r?r6r& create_task _run_loopr<debugr%s rstartzPeriodicTrigger.startxs == KK  14>>  #'    "11388:!$ (()9: ;; KK  4dnn E rcF|jsyd|_|jj|jr4|jj s|jj |j r'|j jd|jyy)zZStop the periodic trigger. Cancels the background task and resets state. NFzTrigger '%s' stopped) r;rArr<donecancelr8rIr5r%s rstopzPeriodicTrigger.stopsp }}    ::djjoo/ JJ    ;; KK  4dnn E rc|jd|_|jr'|jjd|jyy)z[Called when navigation completes. Stops the trigger and performs cleanup. ?z!Trigger '%s': navigation completeN)rNr?r8rIr5r%s ron_navigation_completez&PeriodicTrigger.on_navigation_completes< !$ ;; KK  3T^^  rctdtd||_|jr2|jj d|j |jyy)zhUpdate navigation progress. Args: progress: Progress value from 0.0 to 1.0 r=rPz&Trigger '%s': progress updated to %.2fN)maxminr?r8rIr5)rr!s rupdate_progresszPeriodicTrigger.update_progresssK "%S#c8*r6r_firerr?r"wait_forwait TimeoutErrorCancelledErrorr8rIr5 Exceptionerror)rcheck_interval loop_timeelapsedexcs rrHzPeriodicTrigger._run_loops --(8(8(?(?(A#22499; #d&6&66>>227;'0D$**,&&^^889O9OP**,&&NN778N8NO!**((--/))B-'' ++%% L{{ !!":DNNK {{ !!,dnnc sG-BED7=ED9)E=2D=/D;0D=4G-7E9E;D==EEEEAG*G- G*(3G% G-%G**G-cK |jr1|jjd|j|j|j }t j |r |d{yy7#t$rB}|jr,|jjd|j|Yd}~yYd}~yd}~wwxYww)zExecute the trigger callback.z$Trigger '%s' firing (progress: %.2f)Nz Trigger '%s' callback failed: %s) r8infor5r?r7rD iscoroutiner^r_)rresultrcs rrYzPeriodicTrigger._fires {{   :NN** \\^F""6* + {{ !!6NN sACA'A4+A2,A40C2A44 B?=3B:0 C:B??Cr,r+)r-r.r/r0__annotations__r8rr;r<r>r?rDEventrArJrNrQrUrHrYr1rrr3r3asN '+F $+5u5Hd5$)$U$CE !Cs7K7$Su=u=!&w}}5!QKQF0F"  $Lrr3)r0 __future__rrD dataclassesrrloggingtypingrrrr r r r r3r1rrrnsG#(;;D'D'X UU Ur