'''This module contains all the constants for the track geom package'''
from enum import Enum, unique

GET_LINK_STATE = '/gazebo/get_link_state'
GET_MODEL_STATE = '/gazebo/get_model_state'
SET_MODEL_STATE = '/gazebo/set_model_state'
GET_LINK_STATES = '/gazebo/get_link_states'
GET_MODEL_STATES = '/gazebo/get_model_states'
SET_MODEL_STATES = '/gazebo/set_model_states'
SPAWN_URDF_MODEL = '/gazebo/spawn_urdf_model'
SPAWN_SDF_MODEL = '/gazebo/spawn_sdf_model'
DELETE_MODEL = '/gazebo/delete_model'

SPLINE_DEGREE = 3

DIST_THRESHOLD = 0.02

START_POS_OFFSET = 0.75
MIN_START_POS_OFFSET = 0.0
MAX_START_POS_OFFSET = 1.0

# The HIDE_POS_* are set such that the cars that are not in use
# are hided outside of the world area of gazebo.
# This has been shown to boost the rtf value during simulation.
# The value is empirically decided to be a large enough one
# for the current track worlds.
HIDE_POS_OFFSET = 60.0

HIDE_POS_DELTA = 0.5

class TrackLane(Enum):
    INNER_LANE = "inner_lane"
    OUTER_LANE = "outer_lane"
    CENTER_LINE = "center_line"

class TrackNearPnts(Enum):
    '''Keys for nearest points dictionary'''
    NEAR_PNT_CENT = 'near_pnt_cent'
    NEAR_PNT_IN = 'near_pnt_in'
    NEAR_PNT_OUT = 'near_pnt_out'

class TrackNearDist(Enum):
    '''Keys for nearest distance dictionary'''
    NEAR_DIST_CENT = 'near_dist_cent'
    NEAR_DIST_IN = 'near_dist_in'
    NEAR_DIST_OUT = 'near_dist_out'

class AgentPos(Enum):
    '''Keys for agent position dictionary'''
    ORIENTATION = 'model_orientation'
    POINT = 'model_point'
    LINK_POINTS = 'link_points'

class ObstacleDimensions(Enum):
    ''' The dimensions of different obstacle '''
    BOX_OBSTACLE_DIMENSION = (0.4, 0.5) # Length(x), width(y) + 0.1 buffer for each
    BOT_CAR_DIMENSION = (0.1961, 0.32352)


class ParkLocation(Enum):
    """Park location type"""
    TOP = 'top'
    BOTTOM = 'bottom'
    LEFT = 'left'
    RIGHT = 'right'