from __future__ import annotations

from uas.uas_control.base_controller import BaseUASController
from uas.uas_control.command import Command, CommandResult, CommandType, Commands


# ═════════════════════════════════════════════════════════════════
# 扩展示例：自定义无人船控制器（演示扩展性）
# ═════════════════════════════════════════════════════════════════

class USVController(BaseUASController):
    """
    无人水面艇（USV）控制器 — 扩展示例

    演示如何通过继承 BaseUASController 快速接入新设备类型。
    只需实现 device_type 和设备专有 API，
    底层协议由 Adapter 屏蔽（可复用 MAVLink / ROS / 自定义 SDK）。
    """

    @property
    def device_type(self) -> str:
        return "usv"

    def set_throttle(self, left: float, right: float) -> CommandResult:
        """差速推进（左/右推进器油门，-1.0~1.0）"""
        return self.send(Commands.custom(
            self.device_id, "set_throttle",
            left=left, right=right,
        ))

    def anchor(self) -> CommandResult:
        """抛锚（原地保持）"""
        return self.send(Commands.custom(
            self.device_id, "anchor"
        ))

    def patrol(self, waypoints: list) -> CommandResult:
        """水面巡逻"""
        return self.send(Command(
            command_type = CommandType.FOLLOW_ROUTE,
            target_id    = self.device_id,
            params       = {"waypoints": waypoints, "mode": "patrol"},
        ))

    @property
    def device_type(self) -> str:
        return "usv"