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__authors__ = 'Pedro Arias Pérez'
__copyright__ = 'Copyright (c) 2022 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'

from enum import Enum
import time

from as2_msgs.action import Takeoff
from as2_python_api.behavior_actions.behavior_handler import BehaviorHandler
from as2_python_api.drone_interface import DroneInterface
import rclpy


class BehaviorStatus(Enum):
    IDLE = 0
    RUNNING = 1
    PAUSED = 2


rclpy.init()

drone_interface = DroneInterface('drone_sim_0', verbose=False)

test = BehaviorHandler(drone_interface, Takeoff, '/TakeoffBehavior')

time.sleep(1)

print('STATUS:', BehaviorStatus(test.status).name)

print('START')
goal = Takeoff.Goal()
goal.takeoff_height = 1.0
goal.takeoff_speed = 0.5
test.start(goal, False)

time.sleep(2)
print('STATUS:', BehaviorStatus(test.status).name)
print('PAUSE')
test.pause()

time.sleep(2)
print('STATUS:', BehaviorStatus(test.status).name)
print('RESUME')
test.resume()
time.sleep(2)
print('STATUS:', BehaviorStatus(test.status).name)
print(test.result)

print('SECOND START')
test.start(goal, False)
time.sleep(2)

print('STOP')
test.stop()
time.sleep(2)
print('STATUS:', BehaviorStatus(test.status).name)
print(test.result)

print('THIRD START')
test.start(goal, False)
time.sleep(1)
print(test.result)
test.wait_to_result()

print('Exit')
test.destroy()
drone_interface.shutdown()
