from typing import List

from device import controller
from tools.base_tool import BaseTool, ToolResult

from uas.uas_control.command import CommandResult


class Tool(BaseTool):
    name = "uav_control"
    description = (
        "该工具用于对无人系统进行控制并在飞行控制中完成一系列的活动（Action），例如起飞、移动、悬停、照相等"
    )
    parameters = {
        "type": "object",
        "properties": {
            "command": {
                "type": "string",
                "description": "无人系统飞行控制命令，例如arm、disarm、takeoff、rtl、goto等",
            },
            "params": {
                "type": "object",
                "description": "控制命令参数"
            },
            "actions": {
                "type": "array",
                "description": "过程中执行的一些列的动作，例如pause、capture_phone、standby等"
            }
        },
        "required": ["command"],
    }


    def execute(self, command: str, params: dict={}, actions: List[object]=()) -> ToolResult:
        if not controller.is_connected:
            if not controller.connect():
                return ToolResult(success=False, output="连接无人机失败")
        command_handler = getattr(controller, command)
        try:
            result = command_handler(**params)
            assert isinstance(result, CommandResult)

            return ToolResult(success=result.success, output=result.message)
        except Exception as e:
            return ToolResult(success=False, output=str(e))