0ptr/nullptr/missions/haul.py

from nullptr.missions.base import BaseMission, MissionParam
from nullptr.models.waypoint import Waypoint
from nullptr.models.survey import Survey
from nullptr.models.contract import Contract
class HaulMission(BaseMission):
  def start_state(self):
    return 'travel-to'
  
  @classmethod
  def params(cls):
    return {
      'site': MissionParam(Waypoint, True),
      'resource': MissionParam(str, True),
      'dest': MissionParam(Waypoint, True),
      'delivery': MissionParam(str, True, 'deliver'),
      'contract': MissionParam(Contract, False)
    }
  
  def steps(self):
    return {
      **self.travel_steps('to', 'site', 'load'),
      'load': (self.step_load, 'travel-back'),
      **self.travel_steps('back', 'dest', 'unload'),
      'unload': (self.step_unload, 'travel-to'),
    }