From ee8b2413c9ee46cd4717b031febe9bcb49f53bfb Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Thu, 15 Aug 2024 14:40:44 -0700
Subject: [PATCH] Added Move and Dock actions

---
 src/mir_rest_node.py | 40 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 40 insertions(+)

diff --git a/src/mir_rest_node.py b/src/mir_rest_node.py
index 4748b5a..b6dfaf7 100644
--- a/src/mir_rest_node.py
+++ b/src/mir_rest_node.py
@@ -55,6 +55,46 @@ def state(state: State):
     return ModuleState(status=state.status, error="")
 
 
+@rest_module.action(
+    name="move",
+    description="Send a Move command to the MIR Base",
+)
+def move(
+    state: State,
+    action: ActionRequest,
+    target_location: Annotated[List[dict], "Target location name"],
+    description: Annotated[str, "Description of the location"],
+    priority: Annotated[Optional[int], "Prority of the movement in the queue. Defult is 1"],
+) -> StepResponse:
+    """Sends a move command to the MIR Base"""
+    state.move(
+        location_name=target_location,
+        description=description,
+        priority=priority,
+    )
+    return StepResponse.step_succeeded(f"MIR Base moved to the location: {target_location} ")
+
+
+@rest_module.action(
+    name="dock",
+    description="Sends a dock command to the MIR Base",
+)
+def dock(
+    state: State,
+    action: ActionRequest,
+    target_location: Annotated[List[dict], "Name of the docking location"],
+    description: Annotated[str, "Description of the docking location"],
+    priority: Annotated[Optional[int], "Prority of the docking in the queue. Defult is 1"],
+) -> StepResponse:
+    """Sends a docking command to the MIR Base"""
+    state.dock(
+        location_name=target_location,
+        description=description,
+        priority=priority,
+    )
+    return StepResponse.step_succeeded(f"MIR Base moved to the location: {target_location} ")
+
+
 @rest_module.action(
     name="queue_mission",
     description="Adds a new mission to the queue. A mission could have multiple movement actions",