from __future__ import annotations

from dataclasses import dataclass
from typing import Any

from .models import LocalProblem, PlanDelta


@dataclass(frozen=True)
class _AdapterDefaults:
    max_step: float
    energy_budget: float


class DroneControllerAdapter:
    name = "drone-controller"
    domain = "aerial"
    defaults = _AdapterDefaults(max_step=12.0, energy_budget=80.0)

    def to_local_problem(self, robot_id: str, mission: dict[str, Any]) -> LocalProblem:
        return LocalProblem(
            robot_id=robot_id,
            target_pos=float(mission["target_pos"]),
            initial_pos=float(mission.get("initial_pos", 0.0)),
            max_step=float(mission.get("max_step", self.defaults.max_step)),
            energy_budget=float(mission.get("energy_budget", self.defaults.energy_budget)),
            metadata={"domain": self.domain, **mission.get("metadata", {})},
        )

    def to_plan_delta(
        self,
        robot_id: str,
        contract_id: str,
        updates: dict[str, Any],
        sequence: int,
        author: str = "drone-controller",
    ) -> PlanDelta:
        return PlanDelta(
            author=author,
            contract_id=contract_id,
            target_robot_id=robot_id,
            sequence=sequence,
            updates=updates,
        )


class GroundRoverControllerAdapter:
    name = "ground-rover-controller"
    domain = "ground"
    defaults = _AdapterDefaults(max_step=8.0, energy_budget=120.0)

    def to_local_problem(self, robot_id: str, mission: dict[str, Any]) -> LocalProblem:
        return LocalProblem(
            robot_id=robot_id,
            target_pos=float(mission["target_pos"]),
            initial_pos=float(mission.get("initial_pos", 0.0)),
            max_step=float(mission.get("max_step", self.defaults.max_step)),
            energy_budget=float(mission.get("energy_budget", self.defaults.energy_budget)),
            metadata={"domain": self.domain, **mission.get("metadata", {})},
        )

    def to_plan_delta(
        self,
        robot_id: str,
        contract_id: str,
        updates: dict[str, Any],
        sequence: int,
        author: str = "ground-rover-controller",
    ) -> PlanDelta:
        return PlanDelta(
            author=author,
            contract_id=contract_id,
            target_robot_id=robot_id,
            sequence=sequence,
            updates=updates,
        )