# Copyright 2019 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from typing import Callable
from typing import cast
from typing import Optional
from typing import TYPE_CHECKING
from typing import Union
from .on_action_event_base import OnActionEventBase
from ..event import Event
from ..events import ExecutionComplete
from ..launch_context import LaunchContext
from ..some_entities_type import SomeEntitiesType
if TYPE_CHECKING:
from .. import Action # noqa: F401
[docs]
class OnExecutionComplete(OnActionEventBase):
"""
Convenience class for handling an action completion event.
It may be configured to only handle the completion of a specific action,
or to handle them all.
"""
[docs]
def __init__(
self,
*,
target_action:
Optional[Union[Callable[['Action'], bool], 'Action']] = None,
on_completion:
Union[
SomeEntitiesType,
Callable[[ExecutionComplete, LaunchContext], Optional[SomeEntitiesType]]],
**kwargs
) -> None:
"""Create an OnExecutionComplete event handler."""
from ..action import Action # noqa: F811
on_completion = cast(
Union[
SomeEntitiesType,
Callable[[Event, LaunchContext], Optional[SomeEntitiesType]]],
on_completion)
super().__init__(
action_matcher=target_action,
on_event=on_completion,
target_event_cls=ExecutionComplete,
target_action_cls=Action,
**kwargs,
)