from time import time, sleep

import numpy as np


def execute_node(conn):
    ne = conn.mech_jeb.node_executor
    ne.execute_all_nodes()

    with conn.stream(getattr, ne, "enabled") as enabled:
        enabled.rate = 1
        with enabled.condition:
            while enabled():
                enabled.wait()


def magnitude(vector):
    return np.linalg.norm(vector)


THROTTLE = .1


def kill_relative_velocity(conn, vessel, reference_frame):
    mj = conn.mech_jeb
    sa = mj.smart_ass

    vessel.control.throttle = 0
    print("Killing relative velocity")
    while magnitude(vessel.velocity(reference_frame)) > .05:
        sa.autopilot_mode = mj.SmartASSAutopilotMode.relative_minus
        sa.update(False)
        while magnitude(vessel.angular_velocity(reference_frame)) > .1:
            sleep(.1)

        vessel.control.throttle = THROTTLE if magnitude(vessel.velocity(reference_frame)) > 1 else THROTTLE / 10
        current_speed = magnitude(vessel.velocity(reference_frame))
        previous_speed = current_speed
        while current_speed <= previous_speed:
            sleep(.1)
            previous_speed = current_speed
            current_speed = magnitude(vessel.velocity(reference_frame))

        vessel.control.throttle = 0

    print("Relative velocity killed")
    sa.autopilot_mode = mj.SmartASSAutopilotMode.off
    sa.update(False)


def correct_course(conn, vessel, waypoint, reference_frame):
    waypoint = np.array(conn.space_center.transform_position(tuple(waypoint), reference_frame, vessel.reference_frame))

    waypoint_x = round(waypoint[0], 0)
    if waypoint_x < 0:
        vessel.control.right = -.1
    elif waypoint_x > 0:
        vessel.control.right = .1
    else:
        vessel.control.right = 0

    waypoint_z = round(waypoint[2], 0)
    if waypoint_z < 0:
        vessel.control.up = .1
    elif waypoint_z > 0:
        vessel.control.up = -.1
    else:
        vessel.control.up = 0