from robomaster import robot
from typing import Callable, Optional, Union
from enum import Enum
from dora import DoraStatus

import pyarrow as pa


CONN = "ap"


class Command(Enum):
    NOD_YES = [
        {"action": "gimbal", "value": [20.0, 0.0]},
        {"action": "gimbal", "value": [0.0, 0.0]},
    ]
    NOD_NO = [
        {"action": "gimbal", "value": [0.0, -20.0]},
        {"action": "gimbal", "value": [0.0, 20.0]},
        {"action": "gimbal", "value": [0.0, 0.0]},
    ]
    FORWARD = [
        {
            "action": "control",
            "value": [0.5, 0.0, 0.0, 0.6, 0],
        }
    ]
    BACKWARD = [
        {
            "action": "control",
            "value": [-0.5, 0.0, 0.0, 0.6, 0],
        }
    ]
    TURN_LEFT = [
        {"action": "gimbal", "value": [0.0, -45.0]},
        {
            "action": "control",
            "value": [0.0, 0.0, 45.0, 0.0, 50],
        },
    ]
    TURN_RIGHT = [
        {"action": "gimbal", "value": [0.0, 45.0]},
        {
            "value": [0.0, 0.0, -45.0, 0.0, 50],
            "action": "control",
        },
    ]
    UNKNOWN = [
        {
            "value": [0.0, 0.0, 0.0, 0.0, 0],
            "action": "control",
        }
    ]
    # STOP = [0, 0, 0, 0]
    # COMPLETED = [0, 0, 0, 0]

    @classmethod
    def parse(cls, value):
        for k, v in cls.__members__.items():
            if k == value:
                return v
        return cls.UNKNOWN


class Operator:
    def __init__(self):
        self.ep_robot = robot.Robot()
        print("Initializing robot...")
        assert self.ep_robot.initialize(conn_type=CONN), "Could not initialize ep_robot"
        assert self.ep_robot.camera.start_video_stream(
            display=False
        ), "Could not start video stream"

        self.ep_robot.gimbal.recenter().wait_for_completed()
        self.backlog = []
        self.event = None

    def on_event(
        self,
        dora_event: str,
        send_output: Callable[[str, Union[bytes, pa.UInt8Array], Optional[dict]], None],
    ) -> DoraStatus:
        event_type = dora_event["type"]
        if event_type == "INPUT":
            if not (
                self.event is not None
                and not (self.event._event.isSet() and self.event.is_completed)
            ):
                if dora_event["id"] == "tick":
                    if len(self.backlog) > 0:
                        command = self.backlog.pop(0)
                        print(command, flush=True)
                        if command["action"] == "control":
                            [x, y, z, xy_speed, z_speed] = command["value"]
                            print(command, flush=True)
                            self.event = self.ep_robot.chassis.move(
                                x=x, y=y, z=z, xy_speed=xy_speed, z_speed=z_speed
                            )
                        elif command["action"] == "gimbal":
                            [pitch, yaw] = command["value"]
                            print(command, flush=True)
                            self.event = self.ep_robot.gimbal.moveto(
                                pitch=pitch, yaw=yaw, pitch_speed=0.0, yaw_speed=50.0
                            )
                elif dora_event["id"] == "control":
                    raw_command = dora_event["value"][0].as_py()
                    print(raw_command, flush=True)
                    cmd = Command.parse(raw_command)
                    self.backlog += cmd.value

        return DoraStatus.CONTINUE