"""
config.py - Central Configuration & Parameters for JackBot
"""
from dataclasses import dataclass, field
from enum import Enum


class BackendType(Enum):
    SIMULATION = "sim"
    ESP32 = "esp32"
    ARDUINO = "arduino"


@dataclass
class RobotConfig:
    # -------------------------------------------------------------------------
    # 1. Execution & Backend Target
    # -------------------------------------------------------------------------
    backend: BackendType = BackendType.SIMULATION
    urdf_path: str = "JackBotUrdf.urdf"

    # Hardware Connection Settings
    port: str = "COM4"                  # Serial Port for Arduino
    baudrate: int = 38400               # Baudrate for Serial
    esp32_ip: str = "192.168.188.32"    # Wi-Fi IP for ESP32 UDP communication
    esp32_port: int = 3323              # UDP Target Port
    comm_timeout: float = 2.0           # Connection timeout threshold [s]

    # -------------------------------------------------------------------------
    # 2. Gait & Motion Kinematics Parameters
    # -------------------------------------------------------------------------
    step_height: float = 0.05          # Clearance height of foot swing [m]
    step_length: float = 0.08          # Maximum stride distance [m]
    translation_gain: float = 1.0      # Speed multiplier for directional translation
    rotation_gain: float = 4.0         # Speed multiplier for yaw rotation

    # Timing & Execution Frequency
    tick_rate_hz: float = 25.0         # Motion loop execution rate [ticks/sec]
    step_duration: float = 0.8         # Time to complete full gait stride [s]

    @property
    def standard_tickpersec(self) -> float:
        return self.tick_rate_hz

    @standard_tickpersec.setter
    def standard_tickpersec(self, value: float) -> None:
        self.tick_rate_hz = value

    @property
    def tick_duration(self) -> float:
        return 1.0 / self.tick_rate_hz


# Global Active Instance
cfg = RobotConfig()