"""Recovery strategies for Agent ROS Bridge.

This module provides recovery strategies for different anomaly types:
- STUCK: Back up, replan
- DEVIATION: Re-localize, resume
- OBSTACLE: Wait, replan around
- TIMEOUT: Abort, notify
"""

import asyncio
from dataclasses import dataclass, field
from enum import Enum
from typing import Any


class RecoveryStrategyType(Enum):
    """Types of recovery strategies."""

    BACKUP_AND_REPLAN = "backup_and_replan"
    RELOCALIZE = "relocalize"
    WAIT_AND_REPLAN = "wait_and_replan"
    ABORT = "abort"
    RETRY = "retry"
    EMERGENCY_STOP = "emergency_stop"


@dataclass
class RecoveryStrategy:
    """A recovery strategy configuration.

    Attributes:
        strategy_type: Type of recovery strategy
        description: Human-readable description
        max_attempts: Maximum number of recovery attempts
        timeout: Timeout for recovery action (seconds)
        parameters: Additional strategy-specific parameters
    """

    strategy_type: RecoveryStrategyType
    description: str
    max_attempts: int = 3
    timeout: float = 30.0
    parameters: dict[str, Any] = field(default_factory=dict)


@dataclass
class RecoveryAction:
    """A specific recovery action to be executed.

    Attributes:
        action_type: Type of action
        description: Description of what to do
        parameters: Action parameters
    """

    action_type: str
    description: str
    parameters: dict[str, Any] = field(default_factory=dict)


class StuckRecovery:
    """Recovery strategy for STUCK condition.

    Strategy: Back up, replan
    """

    def __init__(self, backup_distance: float = 0.5):
        """Initialize stuck recovery.

        Args:
            backup_distance: Distance to back up in meters
        """
        self.backup_distance = backup_distance

    async def execute(self) -> dict[str, Any]:
        """Execute stuck recovery.

        Returns:
            Result dictionary with success status and details
        """
        # Step 1: Stop current motion
        await self._stop_motion()

        # Step 2: Back up
        backup_success = await self._backup()
        if not backup_success:
            return {"success": False, "action": "backup", "error": "Failed to back up"}

        # Step 3: Replan
        replan_success = await self._replan()
        if not replan_success:
            return {"success": False, "action": "replan", "error": "Failed to replan"}

        return {
            "success": True,
            "action": f"backed_up_{self.backup_distance}m_and_replanned",
            "backup_distance": self.backup_distance,
        }

    async def _stop_motion(self):
        """Stop current motion."""
        await asyncio.sleep(0.01)  # Simulate

    async def _backup(self) -> bool:
        """Back up by specified distance.

        Returns:
            True if successful
        """
        await asyncio.sleep(0.01)  # Simulate
        return True

    async def _replan(self) -> bool:
        """Replan path.

        Returns:
            True if successful
        """
        await asyncio.sleep(0.01)  # Simulate
        return True


class DeviationRecovery:
    """Recovery strategy for DEVIATION condition.

    Strategy: Re-localize, resume
    """

    def __init__(self, relocalization_method: str = "amcl"):
        """Initialize deviation recovery.

        Args:
            relocalization_method: Method to use for re-localization
        """
        self.relocalization_method = relocalization_method

    async def execute(self) -> dict[str, Any]:
        """Execute deviation recovery.

        Returns:
            Result dictionary
        """
        # Step 1: Re-localize
        relocalize_success = await self._relocalize()
        if not relocalize_success:
            return {"success": False, "action": "relocalize", "error": "Failed to re-localize"}

        # Step 2: Resume execution
        resume_success = await self._resume()
        if not resume_success:
            return {"success": False, "action": "resume", "error": "Failed to resume"}

        return {
            "success": True,
            "action": "relocalized_and_resumed",
            "method": self.relocalization_method,
        }

    async def _relocalize(self) -> bool:
        """Re-localize the robot.

        Returns:
            True if successful
        """
        await asyncio.sleep(0.01)  # Simulate
        return True

    async def _resume(self) -> bool:
        """Resume execution.

        Returns:
            True if successful
        """
        await asyncio.sleep(0.01)  # Simulate
        return True


class ObstacleRecovery:
    """Recovery strategy for OBSTACLE condition.

    Strategy: Wait, replan around
    """

    def __init__(self, wait_timeout: float = 10.0):
        """Initialize obstacle recovery.

        Args:
            wait_timeout: Maximum time to wait for obstacle to clear
        """
        self.wait_timeout = wait_timeout

    async def execute(self) -> dict[str, Any]:
        """Execute obstacle recovery.

        Returns:
            Result dictionary
        """
        # Step 1: Wait for obstacle to clear
        wait_success = await self._wait_for_clearance()

        if wait_success:
            return {"success": True, "action": "waited_for_obstacle_to_clear"}

        # Step 2: If obstacle doesn't clear, replan around
        replan_success = await self._replan_around()
        if not replan_success:
            return {
                "success": False,
                "action": "replan_around",
                "error": "Failed to replan around obstacle",
            }

        return {"success": True, "action": "replanned_around_obstacle"}

    async def _wait_for_clearance(self) -> bool:
        """Wait for obstacle to clear.

        Returns:
            True if obstacle cleared
        """
        # Simulate waiting (shortened for testing)
        await asyncio.sleep(0.01)
        return False  # Assume obstacle didn't clear

    async def _replan_around(self) -> bool:
        """Replan path around obstacle.

        Returns:
            True if successful
        """
        await asyncio.sleep(0.01)  # Simulate
        return True


class TimeoutRecovery:
    """Recovery strategy for TIMEOUT condition.

    Strategy: Abort, notify
    """

    def __init__(self, notify_operator: bool = True):
        """Initialize timeout recovery.

        Args:
            notify_operator: Whether to notify operator
        """
        self.notify_operator = notify_operator

    async def execute(self) -> dict[str, Any]:
        """Execute timeout recovery.

        Returns:
            Result dictionary
        """
        # Step 1: Abort execution
        await self._abort()

        # Step 2: Notify if configured
        if self.notify_operator:
            await self._notify()

        return {"success": True, "action": "aborted_and_notified", "notified": self.notify_operator}

    async def _abort(self):
        """Abort execution."""
        await asyncio.sleep(0.01)  # Simulate

    async def _notify(self):
        """Notify operator."""
        await asyncio.sleep(0.01)  # Simulate


class RecoveryStrategyFactory:
    """Factory for creating recovery strategies."""

    @staticmethod
    def create_stuck_recovery(backup_distance: float = 0.5) -> StuckRecovery:
        """Create a stuck recovery strategy.

        Args:
            backup_distance: Distance to back up

        Returns:
            StuckRecovery instance
        """
        return StuckRecovery(backup_distance=backup_distance)

    @staticmethod
    def create_deviation_recovery(relocalization_method: str = "amcl") -> DeviationRecovery:
        """Create a deviation recovery strategy.

        Args:
            relocalization_method: Re-localization method

        Returns:
            DeviationRecovery instance
        """
        return DeviationRecovery(relocalization_method=relocalization_method)

    @staticmethod
    def create_obstacle_recovery(wait_timeout: float = 10.0) -> ObstacleRecovery:
        """Create an obstacle recovery strategy.

        Args:
            wait_timeout: Wait timeout

        Returns:
            ObstacleRecovery instance
        """
        return ObstacleRecovery(wait_timeout=wait_timeout)

    @staticmethod
    def create_timeout_recovery(notify_operator: bool = True) -> TimeoutRecovery:
        """Create a timeout recovery strategy.

        Args:
            notify_operator: Whether to notify operator

        Returns:
            TimeoutRecovery instance
        """
        return TimeoutRecovery(notify_operator=notify_operator)


# Convenience functions
async def recover_from_stuck(backup_distance: float = 0.5) -> dict[str, Any]:
    """Recover from stuck condition.

    Args:
        backup_distance: Distance to back up

    Returns:
        Recovery result
    """
    recovery = StuckRecovery(backup_distance=backup_distance)
    return await recovery.execute()


async def recover_from_deviation(relocalization_method: str = "amcl") -> dict[str, Any]:
    """Recover from deviation condition.

    Args:
        relocalization_method: Re-localization method

    Returns:
        Recovery result
    """
    recovery = DeviationRecovery(relocalization_method=relocalization_method)
    return await recovery.execute()


async def recover_from_obstacle(wait_timeout: float = 10.0) -> dict[str, Any]:
    """Recover from obstacle condition.

    Args:
        wait_timeout: Wait timeout

    Returns:
        Recovery result
    """
    recovery = ObstacleRecovery(wait_timeout=wait_timeout)
    return await recovery.execute()


async def recover_from_timeout(notify_operator: bool = True) -> dict[str, Any]:
    """Recover from timeout condition.

    Args:
        notify_operator: Whether to notify operator

    Returns:
        Recovery result
    """
    recovery = TimeoutRecovery(notify_operator=notify_operator)
    return await recovery.execute()
