"""FollowPath Behavior."""

# Copyright 2022 Universidad Politécnica de Madrid
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__authors__ = 'Miguel Fernández Cortizas, Pedro Arias Pérez, David Pérez Saura, Rafael Pérez Seguí'
__copyright__ = 'Copyright (c) 2022 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'

from typing import TYPE_CHECKING, Union

from as2_msgs.action import FollowPath
from as2_msgs.msg import PoseWithID, YawMode
from geographic_msgs.msg import GeoPath
from geometry_msgs.msg import Pose
from nav_msgs.msg import Path
from pymap3d import geodetic2enu

from .behavior_handler import BehaviorHandler
from ..tools.utils import path_to_list

if TYPE_CHECKING:
    from ..drone_interface_base import DroneInterfaceBase


class FollowPathBehavior(BehaviorHandler):
    """FollowPath Behavior."""

    def __init__(self, drone: 'DroneInterfaceBase') -> None:
        self.__drone = drone

        try:
            super().__init__(drone, FollowPath, 'FollowPathBehavior')
        except self.BehaviorNotAvailable as err:
            self.__drone.get_logger().warn(str(err))

    def start(self, path: Union[list, tuple, Path, GeoPath, PoseWithID],
              speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth',
              wait_result: bool = True) -> bool:
        """Start behavior."""
        goal_msg = FollowPath.Goal()
        goal_msg.header.stamp = self.__drone.get_clock().now().to_msg()
        goal_msg.header.frame_id = frame_id
        goal_msg.path = self.__get_path(path)
        yaw_msg = YawMode()
        yaw_msg.angle = yaw_angle
        yaw_msg.mode = yaw_mode
        goal_msg.yaw = yaw_msg
        goal_msg.max_speed = speed
        try:
            return super().start(goal_msg, wait_result)
        except self.GoalRejected as err:
            self.__drone.get_logger().warn(str(err))
        return False

    def modify(self, path: Union[list, tuple, Path, GeoPath, PoseWithID],
               speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth'):
        """Modify behavior."""
        goal_msg = FollowPath.Goal()
        goal_msg.header.stamp = self.__drone.get_clock().now().to_msg()
        goal_msg.header.frame_id = frame_id
        goal_msg.path = self.__get_path(path)
        yaw_msg = YawMode()
        yaw_msg.angle = yaw_angle
        yaw_msg.mode = yaw_mode
        goal_msg.yaw = yaw_msg
        goal_msg.max_speed = speed
        return super().modify(goal_msg)

    def __get_path(self, path: Union[list, tuple, Path, GeoPath, PoseWithID]):
        """Get trajectory msg."""
        point_list = []
        if isinstance(path, list):
            if len(path) > 0 and isinstance(path[0], PoseWithID):
                return path
            elif not path:  # not empty
                raise self.GoalRejected('Goal format invalid')
            if isinstance(path[0], list):
                point_list = path
            else:
                point_list = [path]
        elif isinstance(path, tuple):
            point_list = [list(path)]
        elif isinstance(path, Path):
            point_list = path_to_list(path)
        elif isinstance(path, GeoPath):
            point_list = []
            lat0, lon0, h0 = self.__drone.gps.origin
            for pose in path.poses:
                x, y, z = geodetic2enu(pose.pose.position.latitude,
                                       pose.pose.position.longitude,
                                       pose.pose.position.altitude,
                                       lat0, lon0, h0)
                # CAUTION: using height from origin
                point_list.append([x, y, pose.pose.position.altitude])
        elif isinstance(path, PoseWithID):
            return [path]
        else:
            raise self.GoalRejected('Goal format invalid')

        pose_with_id_list = []
        id_ = 0
        for waypoint in point_list:
            pose_with_id = PoseWithID()
            pose_with_id.pose = Pose()
            pose_with_id.id = str(id_)
            pose_with_id.pose.position.x = float(waypoint[0])
            pose_with_id.pose.position.y = float(waypoint[1])
            pose_with_id.pose.position.z = float(waypoint[2])
            pose_with_id_list.append(pose_with_id)
            id_ += 1
        return pose_with_id_list
