from dataclasses import dataclass
import numpy as np
from pygame import Vector2

def checkDimensions(self, row:int, column:int):
    if self.data.shape != (row, column):
        raise ValueError(f"{type(self).__name__} must be of shape ({row}, {column}), got {self.data.shape}")

# Dataclasses
@dataclass
class PosArray:
    data: np.ndarray
    def __post_init__(self):
        if not isinstance(self.data, np.ndarray):
            self.data = np.array(self.data, dtype=float)
        checkDimensions(self, 6, 3)
    # behave like numpy
    def __array__(self): return self.data
    def __getitem__(self, key): return self.data[key]
    def __iter__(self): return iter(self.data)
    def __repr__(self): return f"PosArray(\n{self.data}\n)"


@dataclass
class DegArray:
    data: np.ndarray
    def __post_init__(self):
        if not isinstance(self.data, np.ndarray):
            self.data = np.array(self.data)
        checkDimensions(self, 6, 3)
        self.data = self.data.astype(int)

    def to_rad(self) -> "RadArray":
        return RadArray(np.radians(self.data))
    # behave like numpy
    def __array__(self): return self.data
    def __getitem__(self, key): return self.data[key]
    def __iter__(self): return iter(self.data)
    def __repr__(self): return f"PosArray(\n{self.data}\n)"

@dataclass
class RadArray:
    data: np.ndarray
    def __post_init__(self):
        if not isinstance(self.data, np.ndarray):
            self.data = np.array(self.data, dtype=float)
        checkDimensions(self, 6, 3)

    def to_deg(self) -> "DegArray":
        return DegArray(np.degrees(self.data))
    # behave like numpy
    def __array__(self): return self.data
    def __getitem__(self, key): return self.data[key]
    def __iter__(self): return iter(self.data)
    def __repr__(self): return f"PosArray(\n{self.data}\n)"


@dataclass
class RobotCommand:
    legs: DegArray
    state: int = 0
    text: str = ""

@dataclass
class ControlIntent:
    move_vector: Vector2
    turn: float
    emote: str | None