import math

from Constant import position_accuracy_command
from Constant import position_accuracy_action
from Constant import DebugPosition
class Position:
    def __init__(self):
        self.X = 0.0
        self.Y = 0.0
        self.Z = 0.0
        self.U = 0.0
        self.V = 0.0
        self.W = 0.0
        self.Axis_0 = 0.0
        self.Axis_1 = 0.0
        self.Axis_2 = 0.0
        self.Axis_3 = 0.0
        self.Axis_4 = 0.0
        self.Axis_5 = 0.0
        #点位类型 1世界坐标(默认）4关节坐标
        self.position_type =1
        
        self.a = 0.0
        self.b = 0.0
        self.c = 0.0


    def compare(self,position,is_action=False):
         if DebugPosition:
            return True
         #点位类型 1世界坐标(默认）4关节坐标
         if(position.position_type==4):
             return self._compare_joint(position,is_action)
         else:
             return self._compare_world(position,is_action)

    def _compare_world(self,position,is_action=False):
        """
        世界坐标比较
        :param position:
        :return:精度内TRUE,否则为FALSE
        """
      
        distance = math.sqrt((self.X - position.X) ** 2 +
                             (self.Y - position.Y) ** 2 +
                             (self.Z - position.Z) ** 2 )
        if distance<=(position_accuracy_action if is_action else position_accuracy_command):
            return True
        else:
            return False

    def _compare_joint(self,position,is_action=False):
        """
        关节坐标比较
        :param position:
        :return:精度内TRUE,否则为FALSE
        """
        distance = math.sqrt((self.Axis_0 - position.X) ** 2 +
                             (self.Axis_1 - position.Y) ** 2 +
                             (self.Axis_2 - position.Z) ** 2 + 
                             (self.Axis_3 - position.U) ** 2 )
        if distance<=(position_accuracy_action if is_action else position_accuracy_command):
            return True
        else:
            return False

    # def compare(self,position):
    #     if self.X-position.X<position_accuracy and \
    #         self.Y-position.Y<position_accuracy and \
    #         self.Z - position.Z < position_accuracy and \
    #         self.U - position.U < position_accuracy and \
    #         self.V - position.V < position_accuracy and \
    #         self.W - position.W < position_accuracy:
    #         return True
    #     else:
    #         return False
    #     pass

    def is_error_angel_move(self,position,interval):
        if self.X - position.X >= interval or \
                self.Y - position.Y >= interval or \
                self.Z - position.Z >= interval or \
                self.U - position.U >= interval or \
                self.V - position.V >= interval or \
                self.W - position.W >= interval:
            return True
        else:
            return False
        pass
"""
摄像头识别位置和角度
"""
class Detection_Position(Position):
    def __init__(self):
        super().__init__()

    def init_position(self,X,Y,Z,U,V,W):
        self.X = X
        self.Y = Y
        self.Z = Z
        self.U = U
        self.V = V
        self.W = W


class Real_Position(Position):
    def __init__(self):
        super().__init__()

    def init_position(self, X, Y, Z, U, V, W):
        self.X = X
        self.Y = Y
        self.Z = Z
        self.U = U
        self.V = V
        self.W = W
        return self

    def init_position_joint_and_world(self, X, Y, Z, U, V, W,Axis_0,Axis_1,Axis_2,Axis_3,Axis_4,Axis_5):
        self.init_position(X,Y,Z,U,V,W) 
        self.Axis_0 = Axis_0
        self.Axis_1 = Axis_1
        self.Axis_2 = Axis_2
        self.Axis_3 = Axis_3
        self.Axis_4 = Axis_4
        self.Axis_5 = Axis_5
        return self

    # def init_position(self, position):
    #     return self.init_position(position.X,position.Y,position.Z,position.U,position.V,position.W)

    def to_string(self):
        return "X:{:.3f},Y:{:.3f},Z:{:.3f},U:{:.3f},V:{:.3f},W:{:.3f}".format(self.X,self.Y,self.Z,self.U,self.V,self.W)