#!/usr/bin/env python3
import uuid
import paho.mqtt.client as mqtt
from planet import Direction
from communication import Mode, Command, Communication
from move import Move
from time import sleep

# DO NOT EDIT
client = None


def run():
    # DO NOT EDIT
    global client
    # client_id has to be unique among ALL users
    client = mqtt.Client(client_id=str(uuid.uuid4()),
                         clean_session=False,
                         protocol=mqtt.MQTTv31)

    communication = Communication(client)
    move = Move()

    while(communication.planetname is None):
        communication.process_messages()

    move.traversetonextstation(True)
    move.resetwheels()
    move.reset()
    while(communication.status() is not Mode.COMPLETE):
        communication.update(move.getstats())
        # correct odometry right here otherwise list of edges will be incorrect
        if(communication.planet.getcurnode() == communication.target):
            communication._status = Mode.COMPLETE
            communication.encode_message(Command.TARGET, None)
            communication.encode_message(Command.COMPLETE, None)
        move.setcurdir(communication.getdir())
        communication.process_edges(move.getstationedges())
        if(communication._status == Mode.COMPLETE):
            break
        if(communication.status() is Mode.GOTOSTATION or communication.status() is Mode.TARGET):  # should be triggered if current station has no unexplored edges
            while len(communication.navto) > 0:
                move.turnto(communication.navto[0][1])
                move.reset()
                move.resetwheels()
                move.traversetonextstation(True)
                move.setcurdir((None, (communication.planet._planetmap[communication.navto[0][0]][communication.navto[0][1]][1] + 180)%360))
                communication.update(None)
                communication.navto.pop(0)
            if(communication.status() == Mode.TARGET):
                communication._status = Mode.COMPLETE
            else:
                communication._status = Mode.EXPLORE
        else:
            move.turnto(communication.navto[0][1])
            sleep(4)
            communication.planet.setcurdir(communication.navto[0][1])
            move.setcurdir(communication.getdir())
            move.reset()
            move.resetwheels()
            move.traversetonextstation(False)


# DO NOT EDIT
if __name__ == '__main__':
    run()