from typing import Any

from Base.Metadata import export
from Base.Persistence import Persistence

@export(
    Father="PersistencePy",
    Name="WaypointPy",
    Twin="Waypoint",
    TwinPointer="Waypoint",
    Include="Mod/Robot/App/Waypoint.h",
    Namespace="Robot",
    FatherInclude="Base/PersistencePy.h",
    FatherNamespace="Base",
    Constructor=True,
    Delete=True,
)
class WaypointPy(Persistence):
    """
    Waypoint class
    """

    Name: str
    """Name of the waypoint"""

    Type: str
    """Type of the waypoint[PTP|LIN|CIRC|WAIT]"""

    Pos: Any
    """End position (destination) of the waypoint"""

    Cont: bool
    """Control the continuity to the next waypoint in the trajectory"""

    Velocity: float
    """Control the velocity to the next waypoint in the trajectory
In Case of PTP 0-100% Axis speed
In Case of LIN m/s
In Case of WAIT s wait time"""

    Tool: int
    """Describe which tool frame to use for that point"""

    Base: int
    """Describe which Base frame to use for that point"""