From 813e3ad8c4b9827146412ee0f60a60cb547080f2 Mon Sep 17 00:00:00 2001
From: Eisinger <Siegfried.Eisinger@dnv.com>
Date: Mon, 30 Dec 2024 23:32:55 +0100
Subject: [PATCH] Small ruff fix

---
 src/sim_explorer/utils/osp.py          |  2 +-
 tests/data/MobileCrane/mobile_crane.py | 76 ++++++++++++++++++++++++++
 2 files changed, 77 insertions(+), 1 deletion(-)
 create mode 100644 tests/data/MobileCrane/mobile_crane.py

diff --git a/src/sim_explorer/utils/osp.py b/src/sim_explorer/utils/osp.py
index fe8a9a6..8f0071c 100644
--- a/src/sim_explorer/utils/osp.py
+++ b/src/sim_explorer/utils/osp.py
@@ -1,10 +1,10 @@
 import xml.etree.ElementTree as ET  # noqa: N817
 from pathlib import Path
+from typing import Any
 
 from component_model.utils.xml import read_xml
 
 from sim_explorer.json5 import Json5
-from typing import Any
 
 
 # ==========================================
diff --git a/tests/data/MobileCrane/mobile_crane.py b/tests/data/MobileCrane/mobile_crane.py
new file mode 100644
index 0000000..a21c60c
--- /dev/null
+++ b/tests/data/MobileCrane/mobile_crane.py
@@ -0,0 +1,76 @@
+from crane_fmu.crane import Crane  # , Animation
+
+
+class MobileCrane(Crane):
+    """Simple mobile crane for FMU testing purposes.
+    The crane has a short pedestal, one variable-length stiff boom and a rope.
+    The size and weight of the various parts can be configured.
+
+    Args:
+        name (str) : name of the crane type
+        description (str) : short description
+        author (str)
+        version (str)
+        pedestalMass (str) : mass of the pedestal - quantity and unit as string
+        pedestalHeight (str) : height (fixed) of the pedestal, with units
+        boomMass (str) : mass of the single boom, with units
+        boomLength0 (str) : minimum length of the boom, with units
+        boomLength1 (str) : maximum length of the boom, with units
+    """
+
+    def __init__(
+        self,
+        name: str = "mobile_crane",
+        description: str = "Simple mobile crane (for FMU testing) with short pedestal, one variable-length elevation boom and a rope",
+        author: str = "DNV, SEACo project",
+        version: str = "0.2",
+        pedestalMass: str = "10000.0 kg",
+        pedestalHeight: str = "3.0 m",
+        boomMass: str = "1000.0 kg",
+        boomLength0: str = "8 m",
+        boomLength1: str = "50 m",
+        rope_mass_range: tuple = ("50kg", "2000 kg"),
+        **kwargs,
+    ):
+        super().__init__(
+            name=name, description=description, author=author, version=version, **kwargs
+        )
+        _ = self.add_boom(
+            name="pedestal",
+            description="The crane base, on one side fixed to the vessel and on the other side the first crane boom is fixed to it. The mass should include all additional items fixed to it, like the operator's cab",
+            mass=pedestalMass,
+            massCenter=(0.5, -1.0, 0.8),
+            boom=(pedestalHeight, "0deg", "0deg"),
+            boom_rng=(None, None, ("0deg", "360deg")),
+        )
+        _ = self.add_boom(
+            name="boom",
+            description="The boom. Can be lifted and length can change within the given range",
+            mass=boomMass,
+            massCenter=(0.5, 0, 0),
+            boom=(boomLength0, "90deg", "0deg"),
+            boom_rng=((boomLength0, boomLength1), (0, "90deg"), None),
+        )
+        _ = self.add_boom(
+            name="rope",
+            description="The rope fixed to the last boom. Flexible connection",
+            mass="50.0 kg",  # so far basically the hook
+            massCenter=0.95,
+            mass_rng=rope_mass_range,
+            boom=("1e-6 m", "180deg", "0 deg"),
+            boom_rng=(
+                ("1e-6 m", boomLength1),
+                ("90deg", "270deg"),
+                ("-180deg", "180deg"),
+            ),
+            damping=50.0,
+            animationLW=2,
+        )
+        # make sure that _comSub is calculated for all booms:
+        self.calc_statics_dynamics(None)
+
+    def do_step(self, currentTime, stepSize):
+        status = super().do_step(currentTime, stepSize)
+        # print(f"Time {currentTime}, {self.rope_tip}")
+        # print(f"MobileCrane.do_step. Status {status}")
+        return status