import re
import sys
from math import sqrt
from helpers import get_speed,get_ang_vel, force2pwm

class InputKeys(object):
    def __init__(self):
        self.w = "U"
        self.a = "U"
        self.s = "U"
        self.d = "U"


class BaseType(object):
    """ BaseType is a simple base class which provides basic functions.

    The attributes are obtained from the 'attrs' property, which should be
    defined by subclasses.
    """

    # Subclasses should override.
    attrs = []

    def __eq__(self, other):
        """Compares two objects."""
        for attr in self.attrs:
            if self.__dict__[attr] != other.__dict__[attr]:
                return False
        return True

    def __repr__(self):
        """Gets string encoding of object."""
        return "%s(%s)" % (self.__class__.__name__,
                           ', '.join('%s=%s' % (attr, self.__dict__[attr])
                                     for attr in self.attrs))

    def __unicode__(self):
        """Gets unicode encoding of object."""
        return unicode(self.__str__())

    def serialize(self):
        """Serialize the current state of the object."""
        serial = {}
        for attr in self.attrs:
            data = self.__dict__[attr]
            if isinstance(data, BaseType):
                serial[attr] = data.serialize()
            elif isinstance(data, list):
                serial[attr] = [d.serialize() for d in data]
            elif data is not None:
                serial[attr] = data
        return serial

    @classmethod
    def deserialize(cls, d):
        """Deserialize the state of the object."""
        if isinstance(d, cls):
            return d
        else:
            return cls(**d)

class Position(BaseType):

    attrs = ['pos_x','pos_y']

    def __init__(self,pos_x,pos_y):
        self.pos_x = float(pos_x)
        self.pos_y = float(pos_y)

class Waypoint(BaseType):
    """Waypoint consisting of order, lat, long

    Attributes:
        order: an ID giving place of wp in stack
        position: list [x,y] coordinates of location in basin

    Raises:
        ValueError: Argument not convertable to int
        or float
    """

    attrs = ['order','pos_x','pos_y']

    def __init__(self, order, pos_x, pos_y):
        self.order = int(order)
        self.pos_x = float(pos_x)
        self.pos_y = float(pos_y)

class Telemetry(BaseType):
    """Platform Telemetry at a point in time.

    Attributes:
        latitude: Latitude in meters from origin of optitrack system.
        longitude: Longitude in meters from origin of optitrack system.
        heading: Heading in degrees from i axis of optitrack system (0-360).

    Raises:
        ValueError: Argument not convertable to float.
    """

    attrs = ['pos_x','pos_y','heading','timestamp']

    def __init__(self,pos_x=0,pos_y=0,heading=0,timestamp=1):
        self.pos_x = float(pos_x)
        self.pos_y = float(pos_y)
        self.heading = float(heading)
        self.timestamp = float(timestamp)

class VehicleState(BaseType):
    """Platform state estimation

    Attributes:
        velocity: Velocity of vehicle in meters/sec
    """

    attrs = ['pos_x','pos_y','heading','speed','ang_vel']

    def __init__(self,pos_x=0,pos_y=0,heading=0,speed=0,ang_vel=0):
        self.pos_x = float(pos_x)
        self.pos_y = float(pos_y)
        self.heading = float(heading)
        self.speed = float(speed)
        self.ang_vel = float(ang_vel)

    def update(self,telemetry,telemetry_last):
        self.pos_x = telemetry.pos_x
        self.pos_y = telemetry.pos_y
        self.heading = telemetry.heading
        self.speed = get_speed(telemetry,telemetry_last)
        self.ang_vel = get_ang_vel(telemetry,telemetry_last)

class StationaryObstacle(BaseType):
    """A fixed obstacle.

    Obstacle is treated as a cylinder with location and radius.

    Attributes:
        latitude:
        longitude:
        radius:
    Raises:
        ValueError: Argument not convertable to float.
    """

    attrs = ['pos_x','pos_y','radius']

    def __init__(self,pos_x,pos_y,radius):
        self.pos_x = float(pos_x)
        self.pos_y = float(pos_y)
        self.radius = float(radius)

class Mission(BaseType):
    """Mission Details for payload.

    Attributes:
        home_pos: LocalPosition of the start point
        mission_waypoints: list of waypoints to travel
    """

    attrs = ['id','active','home_pos','mission_waypoints']

    def __init__(self,id,active,home_pos,mission_waypoints):
        self.id = int(id)
        self.active = bool(active)
        self.home_pos = Position.deserialize(home_pos)
        self.mission_waypoints = [
            Waypoint.deserialize(mw) for mw in mission_waypoints
        ]

import re
import sys
from math import sqrt
from helpers import get_speed,get_ang_vel, force2pwm

class InputKeys(object):
    def __init__(self):
        self.w = "U"
        self.a = "U"
        self.s = "U"
        self.d = "U"


class BaseType(object):
    """ BaseType is a simple base class which provides basic functions.

    The attributes are obtained from the 'attrs' property, which should be
    defined by subclasses.
    """

    # Subclasses should override.
    attrs = []

    def __eq__(self, other):
        """Compares two objects."""
        for attr in self.attrs:
            if self.__dict__[attr] != other.__dict__[attr]:
                return False
        return True

    def __repr__(self):
        """Gets string encoding of object."""
        return "%s(%s)" % (self.__class__.__name__,
                           ', '.join('%s=%s' % (attr, self.__dict__[attr])
                                     for attr in self.attrs))

    def __unicode__(self):
        """Gets unicode encoding of object."""
        return unicode(self.__str__())

    def serialize(self):
        """Serialize the current state of the object."""
        serial = {}
        for attr in self.attrs:
            data = self.__dict__[attr]
            if isinstance(data, BaseType):
                serial[attr] = data.serialize()
            elif isinstance(data, list):
                serial[attr] = [d.serialize() for d in data]
            elif data is not None:
                serial[attr] = data
        return serial

    @classmethod
    def deserialize(cls, d):
        """Deserialize the state of the object."""
        if isinstance(d, cls):
            return d
        else:
            return cls(**d)

class Position(BaseType):

    attrs = ['pos_x','pos_y']

    def __init__(self,pos_x,pos_y):
        self.pos_x = float(pos_x)
        self.pos_y = float(pos_y)

class Waypoint(BaseType):
    """Waypoint consisting of order, lat, long

    Attributes:
        order: an ID giving place of wp in stack
        position: list [x,y] coordinates of location in basin

    Raises:
        ValueError: Argument not convertable to int
        or float
    """

    attrs = ['order','pos_x','pos_y']

    def __init__(self, order, pos_x, pos_y):
        self.order = int(order)
        self.pos_x = float(pos_x)
        self.pos_y = float(pos_y)

class Telemetry(BaseType):
    """Platform Telemetry at a point in time.

    Attributes:
        latitude: Latitude in meters from origin of optitrack system.
        longitude: Longitude in meters from origin of optitrack system.
        heading: Heading in degrees from i axis of optitrack system (0-360).

    Raises:
        ValueError: Argument not convertable to float.
    """

    attrs = ['pos_x','pos_y','heading','timestamp']

    def __init__(self,pos_x=0,pos_y=0,heading=0,timestamp=1):
        self.pos_x = float(pos_x)
        self.pos_y = float(pos_y)
        self.heading = float(heading)
        self.timestamp = float(timestamp)

class VehicleState(BaseType):
    """Platform state estimation

    Attributes:
        velocity: Velocity of vehicle in meters/sec
    """

    attrs = ['pos_x','pos_y','heading','speed','ang_vel']

    def __init__(self,pos_x=0,pos_y=0,heading=0,speed=0,ang_vel=0):
        self.pos_x = float(pos_x)
        self.pos_y = float(pos_y)
        self.heading = float(heading)
        self.speed = float(speed)
        self.ang_vel = float(ang_vel)

    def update(self,telemetry,telemetry_last):
        self.pos_x = telemetry.pos_x
        self.pos_y = telemetry.pos_y
        self.heading = telemetry.heading
        self.speed = get_speed(telemetry,telemetry_last)
        self.ang_vel = get_ang_vel(telemetry,telemetry_last)

class StationaryObstacle(BaseType):
    """A fixed obstacle.

    Obstacle is treated as a cylinder with location and radius.

    Attributes:
        latitude:
        longitude:
        radius:
    Raises:
        ValueError: Argument not convertable to float.
    """

    attrs = ['pos_x','pos_y','radius']

    def __init__(self,pos_x,pos_y,radius):
        self.pos_x = float(pos_x)
        self.pos_y = float(pos_y)
        self.radius = float(radius)

class Mission(BaseType):
    """Mission Details for payload.

    Attributes:
        home_pos: LocalPosition of the start point
        mission_waypoints: list of waypoints to travel
    """

    attrs = ['id','active','home_pos','mission_waypoints']

    def __init__(self,id,active,home_pos,mission_waypoints):
        self.id = int(id)
        self.active = bool(active)
        self.home_pos = Position.deserialize(home_pos)
        self.mission_waypoints = [
            Waypoint.deserialize(mw) for mw in mission_waypoints
        ]

BaseType is a simple base class which provides basic functions.      The attributes are obtained from the 'attrs' property, which should be     defined by subclasses. # Subclasses should override. Compares two objects. Gets string encoding of object. Gets unicode encoding of object. Serialize the current state of the object. Deserialize the state of the object. Waypoint consisting of order, lat, long      Attributes:         order: an ID giving place of wp in stack         position: list [x,y] coordinates of location in basin      Raises:         ValueError: Argument not convertable to int         or float Platform Telemetry at a point in time.      Attributes:         latitude: Latitude in meters from origin of optitrack system.         longitude: Longitude in meters from origin of optitrack system.         heading: Heading in degrees from i axis of optitrack system (0-360).      Raises:         ValueError: Argument not convertable to float. Platform state estimation      Attributes:         velocity: Velocity of vehicle in meters/sec A fixed obstacle.      Obstacle is treated as a cylinder with location and radius.      Attributes:         latitude:         longitude:         radius:     Raises:         ValueError: Argument not convertable to float. Mission Details for payload.      Attributes:         home_pos: LocalPosition of the start point         mission_waypoints: list of waypoints to travel