#!/usr/bin/env python3
import uuid
import paho.mqtt.client as mqtt
from planet import Direction, Planet
from communication import Mode, 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()

    # run first time not in loop because odometry data is not relevant
    communication.update(None)  # TODO: Register in map
    # correct odometry right here otherwise list of edges will be incorrect
    move.setcurdir(communication.getdir())
    communication.process(move.getstationedges())
    move.turnto(communication.navto[0][1])  # TODO: add control mechanism to communication class
    sleep(4)
    communication.planet.setcurdir(communication.navto[0][1])
    move.setcurdir(communication.getdir())
    move.reset()
    print("current dir:", move._odometry.angle_get())
    print("Navigation Data:", communication.navto)
    move.traversetonextstation(False)

    while(communication.status() is not Mode.COMPLETE):
        while(communication.status() is Mode.GOTOSTATION or communication.status() is Mode.TARGET):  # should be triggered if current station has no unexplored edges
            for instructions in communication.navto:
                for instructions in communication.navto:
                    communication.update(None, None)
                    move.turnto(instructions[1])
                    move.traversetonextstation(True)

        communication.update(move.getstats())  # TODO: Register in map
        # correct odometry right here otherwise list of edges will be incorrect
        move.setcurdir(communication.getdir())
        communication.process(move.getstationedges())
        move.turnto(communication.navto[0][1])  # TODO: add control mechanism to communication class
        sleep(4)
        communication.planet.setcurdir(communication.navto[0][1])
        move.setcurdir(communication.getdir())
        move.reset()
        print("current dir:", move._odometry.angle_get())
        print("Navigation Data:", communication.navto)
        move.traversetonextstation(False)


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