---

#!/usr/bin/env python3
# -*- coding: utf-8 -*-

import rospy
import cv2
import numpy as np
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
from clover import srv
from std_srvs.srv import Trigger

rospy.init_node('clover_cv_mission')

bridge = CvBridge()
navigate = rospy.ServiceProxy('navigate', srv.Navigate)
land = rospy.ServiceProxy('land', Trigger)
set_effect = rospy.ServiceProxy('led/set_effect', srv.SetLEDEffect)

def image_callback(data):
    try:
        cv_image = bridge.imgmsg_to_cv2(data, "bgr8")
        h, w, _ = cv_image.shape
        roi = cv_image[int(h/3):int(2*h/3), int(w/3):int(2*w/3)]
        hsv = cv2.cvtColor(roi, cv2.COLOR_BGR2HSV)
        avg_hsv = np.mean(hsv, axis=(0, 1))
        hue = avg_hsv[0]
        sat = avg_hsv[1]
        val = avg_hsv[2]
        
        if sat > 40 and val > 40:
            if hue < 8 or hue > 170:
                set_effect(effect='fill', r=255, g=0, b=0)
            elif 8 <= hue < 25:
                set_effect(effect='fill', r=255, g=165, b=0)
            elif 25 <= hue < 35:
                set_effect(effect='fill', r=255, g=255, b=0)
            elif 35 <= hue < 85:
                set_effect(effect='fill', r=0, g=255, b=0)
            elif 85 <= hue < 125:
                set_effect(effect='fill', r=0, g=191, b=255)
            elif 125 <= hue < 140:
                set_effect(effect='fill', r=0, g=0, b=255)
            elif 140 <= hue < 170:
                set_effect(effect='fill', r=128, g=0, b=128)
    except Exception:
        pass

image_sub = rospy.Subscriber('/main_camera/image_raw', Image, image_callback)

def fly_body(x, y, z=0.0, speed=0.4, delay=6.0):
    navigate(x=x, y=y, z=z, speed=speed, frame_id='body', auto_arm=True)
    rospy.sleep(delay)

try:
    # 1. Взлет строго на месте
    set_effect(effect='fill', r=255, g=255, b=255)
    navigate(x=0.0, y=0.0, z=1.0, speed=0.4, frame_id='body', auto_arm=True)
    rospy.sleep(6.0)

    # 2. К блоку 38 через маркер 44 (Сначала по X, потом по Y)
    fly_body(x=1.0, y=0.0, delay=5.0)  
    fly_body(x=0.0, y=2.0, delay=6.0) 

    # 3. Полет по правой стороне к блоку 12 (По диагонали)
    fly_body(x=0.0, y=3.0, delay=6.0) 
    fly_body(x=2.0, y=0.0, delay=6.0)  
    fly_body(x=2.0, y=-1.0, delay=6.0)  

    # 4. К блоку 17 через точку 11 (Сначала по X, потом по Y)
    fly_body(x=-1.0, y=0.0, delay=5.0) 
    fly_body(x=-1.0, y=0.0, delay=5.0) 
    fly_body(x=0.0, y=1.0, delay=5.0) 

    # 5. К блоку 8 через точку 9 (Сначала по X, потом по Y)
    fly_body(x=-1.0, y=0.0, delay=5.0) 
    fly_body(x=0.0, y=-1.0, delay=5.0)  
    fly_body(x=1.0, y=0.0, delay=5.0)  

    # 6. Полет по левой стороне к блоку 38 (По диагонали)
    fly_body(x=1.0, y=-1.0, delay=6.0)  
    fly_body(x=-1.5, y=0.0, delay=6.0) 
    fly_body(x=-2.0, y=0.0, delay=6.0) 
    fly_body(x=-1.5, y=3.0, delay=7.0) 

    # 7. Финиш на маркер 42
    fly_body(x=-1.0, y=-3.0, delay=6.0) 

    land()
    rospy.sleep(5.0)
    set_effect(effect='fill', r=0, g=0, b=0)

except rospy.ROSInterruptException:
    pass