"""
states/IdleState.py - Stance & Idle state
"""
from __future__ import annotations
from typing import TYPE_CHECKING, Optional
from states.State import State

if TYPE_CHECKING:
    from Robot import Robot


class IdleState(State):
    def enter(self, robot: "Robot") -> None:
        robot.reset_to_init()

    def execute(self, robot: "Robot") -> Optional[str]:
        # Check transition conditions based on vector_dirmov or command flags
        vx, vy, omega = robot.vector_dirmov
        if abs(vx) > 0.01 or abs(vy) > 0.01 or abs(omega) > 0.01:
            return "walking"

        if robot.robot_state == "wave":
            return "wave_emote"
        if robot.robot_state == "laola":
            return "laola_emote"

        return None

    def exit(self, robot: "Robot") -> None:
        pass