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# simu - Robot simulation. {{{
#
# Copyright (C) 2012 Nicolas Schodet
#
# APBTeam:
#        Web: http://apbteam.org/
#      Email: team AT apbteam DOT org
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
#
# }}}
"""Guybrush clamps."""
from utils.observable import Observable
from simu.utils.trans_matrix import TransMatrix
from math import pi

class Clamps (Observable):

    def __init__ (self, table, robot_position, lower_clamp_motor,
            lower_clamp_cylinders, lower_clamp_sensors):
        Observable.__init__ (self)
        self.table = table
        self.robot_position = robot_position
        self.lower_clamp_motor = lower_clamp_motor
        self.lower_clamp_cylinders = lower_clamp_cylinders
        self.lower_clamp_sensors = lower_clamp_sensors
        self.lower_clamp_clamping = [ None, None ]
        self.lower_clamp_content = [ [ ], [ ] ]
        self.lower_clamp_motor.register (self.__lower_clamp_notified)
        for c in self.lower_clamp_cylinders:
            c.register (self.__lower_clamp_notified)
        self.robot_position.register (self.__robot_position_notified)

    def __robot_position_notified (self):
        if self.__compute_lower_clamp ():
            self.notify ()

    def __lower_clamp_notified (self):
        self.lower_clamp_rotation = self.lower_clamp_motor.angle
        for i, c in enumerate (self.lower_clamp_cylinders):
            if c.pos is None:
                self.lower_clamp_clamping[i] = None
            else:
                self.lower_clamp_clamping[i] = ((c.pos - c.pos_in)
                        / (c.pos_out - c.pos_in))
        self.__compute_lower_clamp ()
        self.notify ()

    def __compute_lower_clamp (self):
        """Compute all operations of lower clamps."""
        changed = False
        if self.lower_clamp_rotation is None:
            return False
        # If a lower clamp is on the floor:
        rot_mod = self.lower_clamp_rotation % (2 * pi)
        if rot_mod < pi * 0.2 or rot_mod >= pi * 1.9:
            floor_clamp = 0
        elif rot_mod >= pi * 0.9 and rot_mod < pi * 1.2:
            floor_clamp = 1
        else:
            floor_clamp = None
        if floor_clamp is not None:
            top_clamp = 1 - floor_clamp
            # Examine floor and add found element to the clamp content.
            for e, y in self.__get_floor_elements ():
                self.lower_clamp_content[floor_clamp].append ((e, y))
                e.pos = None
                e.notify ()
                changed = True
            # Drop element if possible.
            if self.lower_clamp_clamping[top_clamp] > 0.1:
                self.__add_load ([ e
                    for e, y in self.lower_clamp_content[top_clamp]])
                self.lower_clamp_content[top_clamp] = [ ]
                changed = True
        # Update sensors view.
        old_state = self.lower_clamp_sensors[0].state
        if floor_clamp is None:
            new_state = True
        else:
            new_state = not self.lower_clamp_content[floor_clamp]
        if new_state != old_state:
            for s in self.lower_clamp_sensors:
                s.state = new_state
                s.notify ()
        return changed

    def __add_load (self, elements):
        """Add element list to load."""
        pass

    def __get_floor_elements (self):
        """Return an elements in front of the robot, on the floor, with its y
        coordinate in robot base."""
        if self.robot_position.pos is None:
            return
        # Matrix to transform an obstacle position into robot coordinates.
        m = self.__get_robot_matrix ()
        # Look up elements.
        xoffset = 117 - 6
        xmargin = 20
        ymargin = 171.5 - 60
        for o in self.table.obstacles:
            if o.level == 1 and o.value <= 1 and o.pos is not None:
                pos = m.apply (o.pos)
                if (pos[0] > xoffset + o.radius - xmargin
                        and pos[0] < xoffset + o.radius + xmargin
                        and pos[1] > -ymargin and pos[1] < ymargin):
                    yield (o, pos[1])

    def __get_robot_matrix (self):
        """Return robot transformation matrix."""
        m = TransMatrix ()
        m.rotate (-self.robot_position.angle)
        m.translate ((-self.robot_position.pos[0],
            -self.robot_position.pos[1]))
        return m