# Copyright 2021 Google LLC
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
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#      http://www.apache.org/licenses/LICENSE-2.0
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"""Support mock action template related functionalities.

An action template is a pre-defined sequence of commands which can be sent
to a robot for execution.

An action template command can be static. For example, moving robot to a
fixed pose or turning on/off vacuum.

An action template command can also be parameterized by user inputs.
For example, a pick action takes a pick point as input. A pick point can be
generated by a human operator, when clicking an object in the Reach UI.
A pick point can also be generated by a ML model based on a camera image.

PyReach only provides bare minimum support for the action template right now.
A client can retrieve a list of predefined action template names, and use
the name with the Arm.execute_action and Arm.async_execute_action functions.
"""
from typing import Tuple

from pyreach import actionsets


class ActionsMock(actionsets.Actions):
  """Interface for accessing action template related functionalities."""

  def __init__(self) -> None:
    """Init the mock actions."""
    pass

  def action_names(self) -> Tuple[str, ...]:
    """Return the list of available action template names."""
    raise NotImplementedError
