from time import sleep

import numpy as np
import cv2

import robot

LANDMARKS = [11,6,10] # SET ARUCO NUMBERS

POWER = 70

TURN_T = 7.9 # 1 degree
DRIVE_T = 22 # 1 centimeter

RIGHT_WHEEL_OFFSET = 4

CLOCKWISE_OFFSET = 0.96

FOCAL_LENGTH = 1691

CAMERA_MATRIX = np.array(
    [[FOCAL_LENGTH,0,512],[0,FOCAL_LENGTH,360],[0,0,1]],
    dtype=np.float32
)
DIST_COEF = np.array([0,0,0,0,0], dtype=np.float32)

def find_aruco(image):
    aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250)
    aruco_params = cv2.aruco.DetectorParameters_create()
    corners, ids, _ = cv2.aruco.detectMarkers(
        image,
        aruco_dict,
        parameters=aruco_params
    )

    if corners is None:
        return []

    return {ids[i][0]: box[0] for i, box in enumerate(corners)}

def main():
    landmark_order = LANDMARKS + [
        LANDMARKS[0]
    ]

    noah = robot.Robot()

    while landmark_order != []:
        landmark = landmark_order.pop(0)

        while True:
            arucos = find_aruco(noah.take_photo())
            if landmark in arucos:
                break
            noah.go_diff(40, 40, 1, 0)
            sleep(0.3)
            noah.stop()

        position = cv2.aruco.estimatePoseSingleMarkers(
            np.array([arucos[landmark][0]]), 14.5, CAMERA_MATRIX, DIST_COEF
        )[1][0][0]

        angle = np.rad2deg(np.arctan(position[0]/position[2]))
        drive_distance = np.sqrt(position[0]**2 + position[2]**2)
        if angle < 0:
            noah.go_diff(POWER, POWER, 0, 1)
            sleep((abs(angle) * TURN_T)/1000)
            noah.stop()
        else:
            noah.go_diff(POWER, POWER, 1, 0)
            sleep((abs(angle) * TURN_T * CLOCKWISE_OFFSET)/1000)
            noah.stop()

        noah.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
        sleep((drive_distance * DRIVE_T)/1000)
        noah.stop()

if __name__ == "__main__":
    main()