"""Trajectory Generation module."""

# Copyright 2024 Universidad Politécnica de Madrid
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__authors__ = 'Pedro Arias Pérez'
__copyright__ = 'Copyright (c) 2024 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'

import typing

from as2_msgs.msg import YawMode
from as2_python_api.behavior_actions.trajectory_generation_behavior \
    import TrajectoryGenerationBehavior
from as2_python_api.modules.module_base import ModuleBase
from nav_msgs.msg import Path

if typing.TYPE_CHECKING:
    from ..drone_interface import DroneInterface


class TrajectoryGenerationModule(ModuleBase, TrajectoryGenerationBehavior):
    """Trajectory Generation Module."""

    __alias__ = 'trajectory_generation'

    def __init__(self, drone: 'DroneInterface') -> None:
        super().__init__(drone, self.__alias__)

    def __call__(self, path: Path, speed: float,
                 yaw_mode: int = YawMode.KEEP_YAW,
                 yaw_angle: float = None, frame_id: str = 'earth', wait: bool = True) -> bool:
        """
        Trajectory generation.

        :param path: path to follow
        :type path: Path
        :param speed: speed (m/s) limit
        :type speed: float
        :param yaw_mode: yaw mode, defaults to YawMode.KEEP_YAW
        :type yaw_mode: int, optional
        :param yaw_angle: yaw angle (rad) when fixed yaw is set, defaults to None
        :type yaw_angle: float, optional
        :param frame_id: reference frame of the coordinates, defaults to "earth"
        :type frame_id: str, optional
        :param wait: blocking call, defaults to True
        :type wait: bool, optional
        :return: True if was accepted, False otherwise
        :rtype: bool
        """
        return self.__traj_generation(path, speed, yaw_mode, yaw_angle, frame_id, wait)

    def __traj_generation(self, path: Path, speed: float, yaw_mode: int, yaw_angle: float,
                          frame_id: str = 'earth', wait: bool = True) -> bool:
        """
        Trajectory generation.

        :param path: path to follow
        :type path: Path
        :param speed: speed (m/s) limit
        :type speed: float
        :param yaw_mode: yaw mode
        :type yaw_mode: int
        :param yaw_angle: yaw angle (rad) when fixed yaw is set
        :type yaw_angle: float
        :param frame_id: reference frame of the coordinates, defaults to "earth"
        :type frame_id: str, optional
        :param wait: blocking call, defaults to True
        :type wait: bool, optional
        :return: True if was accepted, False otherwise
        :rtype: bool
        """
        return self.start(path=path, speed=speed, yaw_mode=yaw_mode, yaw_angle=yaw_angle,
                          frame_id=frame_id, wait_result=wait)

    # Method simplifications
    def traj_generation_with_keep_yaw(self, path: Path, speed: float,
                                      frame_id: str = 'earth') -> bool:
        """
        Trajectory generation. With keep yaw mode. Blocking call.

        :param path: path to follow
        :type path: Path
        :param speed: speed (m/s) limit
        :type speed: float
        :param frame_id: reference frame of the coordinates, defaults to "earth"
        :type frame_id: str, optional
        :return: True if was accepted, False otherwise
        :rtype: bool
        """
        return self.__traj_generation(path, speed, yaw_mode=YawMode.KEEP_YAW, yaw_angle=0.0,
                                      frame_id=frame_id)

    def traj_generation_with_yaw(self, path: Path, speed: float, angle: float,
                                 frame_id: str = 'earth') -> bool:
        """
        Trajectory generation. With desired yaw angle. Blocking call.

        :param path: path to follow
        :type path: Path
        :param speed: speed (m/s) limit
        :type speed: float
        :param yaw_angle: yaw angle (rad) when fixed yaw is set
        :type yaw_angle: float
        :param frame_id: reference frame of the coordinates, defaults to "earth"
        :type frame_id: str, optional
        :return: True if was accepted, False otherwise
        :rtype: bool
        """
        return self.__traj_generation(path, speed, yaw_mode=YawMode.FIXED_YAW, yaw_angle=angle,
                                      frame_id=frame_id)

    def traj_generation_with_path_facing(self, path: Path, speed: float,
                                         frame_id: str = 'earth') -> bool:
        """
        Trajectory generation. With path facing yaw mode. Blocking call.

        :param path: path to follow
        :type path: Path
        :param speed: speed (m/s) limit
        :type speed: float
        :param frame_id: reference frame of the coordinates, defaults to "earth"
        :type frame_id: str, optional
        :return: True if was accepted, False otherwise
        :rtype: bool
        """
        return self.__traj_generation(path, speed, yaw_mode=YawMode.PATH_FACING, yaw_angle=0.0,
                                      frame_id=frame_id)

    def traj_generation_with_face_reference(self, path: Path, speed: float,
                                            frame_id: str = 'earth') -> bool:
        """
        Trajectory generation. With path facing yaw mode. Blocking call.

        :param path: path to follow
        :type path: Path
        :param speed: speed (m/s) limit
        :type speed: float
        :param frame_id: reference frame of the coordinates, defaults to "earth"
        :type frame_id: str, optional
        :return: True if was accepted, False otherwise
        :rtype: bool
        """
        return self.__traj_generation(path, speed, yaw_mode=YawMode.FACE_REFERENCE, yaw_angle=0.0,
                                      frame_id=frame_id)
