from shapely.geometry import Polygon, LineString, Point

from planning.uav import Uav
from planning import UavPlanning
from planning.target import (PointTarget, LineTarget, SarRegionTarget, AroundTarget, TargetType) 

def sar_planning(inputs):
    uav_list = []
    max_width = 0
    for uav_param in inputs['uavs']:
        uav = Uav(
            id = uav_param["id"], 
            start_coord = Point(uav_param["start_coord"]), 
            end_coord = Point(uav_param["end_coord"]),
            payload =  uav_param["payload"], 
            constraint = uav_param["constraint"]
        )
        uav_list.append(uav)
        max_width = max(uav_param["payload"]["width"], max_width)
        
    target_list = []
    for target_param in inputs['targets']:
        target_type = target_param["type"]
        if target_type == TargetType.point:
            target = PointTarget(
                id = target_param["id"],
                shape = Point(target_param["coords"])
            )
        elif target_type == TargetType.line:
            target = LineTarget(
                id = target_param["id"],
                shape = LineString(target_param["coords"])
            )
        elif target_type == TargetType.region:
            target = SarRegionTarget(
                id = target_param["id"],
                shape = Polygon(target_param["coords"]),
                width = max_width * 0.95 
            )
        elif target_type == TargetType.around:
            target = AroundTarget(
                id = target_param["id"],
                shape = Point(target_param["coords"]),
            )  
        else:
            raise TypeError(f"{target_type} is not a valid target type.")
        target_list.append(target)
        
    optimize = inputs["optimize"]
    planning = UavPlanning(target_list, uav_list, 'SAR')
    planning.solve()
    if optimize:
        planning.optimize()
    result, _ = planning.solve_route()         
    return result