from time import sleep

from . import Maneuver
from .utils import magnitude, correct_course_to_target, rcs_push, point_toward_target


class GrappleManeuver(Maneuver):
    def __init__(self, conn, mission_control, target):
        super().__init__(conn, mission_control)
        self.target = target

    def start(self):
        vessel = self.mission_control.vessel
        vessel.parts.controlling = self.mission_control.get_grappling()

        point_toward_target(self.conn, vessel, self.target)

        self.mission_control.toggle_grappling(True)
        rcs_push(vessel, {"y": 1}, .75)

        vessel.control.rcs = True
        try:
            while magnitude(vessel.position(self.target.reference_frame)) > 0:
                print(magnitude(vessel.position(self.target.reference_frame)))
                sa = self.conn.mech_jeb.smart_ass
                sa.autopilot_mode = self.conn.mech_jeb.SmartASSAutopilotMode.relative_plus
                sa.update(False)
                correct_course_to_target(vessel, self.target)

        except ValueError:
            vessel = self.conn.space_center.active_vessel
            self.mission_control.vessel = vessel
        finally:
            vessel.control.rcs = False

        return True