---

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Clover Gazebo autonomous mission.

Altitude fix:
  - takeoff once:  body, z=1.0
  - all moves:     body, z=0  (no vertical change, does NOT stack like navigate_target z=1)

navigate_target z=1 stacks each step (1->2->3 m up).
navigate_target z=0 causes invalid setpoints in PX4.
body z=0 = fly horizontal only at current height.
"""

import rospy
from clover import srv
from clover.srv import SetLEDEffect
from std_srvs.srv import Trigger

Z = 1.0
SPD = 0.4

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


def led(r, g, b):
    try:
        set_effect(effect='fill', r=r, g=g, b=b)
    except rospy.ServiceException:
        pass
    rospy.sleep(1.0)


def step(dx, dy, t=6.0):
    navigate(x=dx, y=dy, z=0, speed=SPD, frame_id='body')
    rospy.sleep(t)


try:
    led(255, 255, 255)
    navigate(x=0, y=0, z=Z, yaw=0, speed=0.4, frame_id='body', auto_arm=True)
    rospy.sleep(7.0)

    step(2.0, 0.0, 5.0)       # marker 44

    led(255, 0, 255)          # pink - marker 38
    step(1.0, 1.0, 6.0)
    rospy.sleep(3.0)

    led(255, 165, 0)          # orange block
    step(1.0, 0.75, 5.0)
    step(1.0, 0.75, 5.0)

    led(0, 255, 255)          # cyan block
    step(0.5, 1.5, 6.0)

    led(128, 0, 255)          # purple - marker 12
    step(-0.5, 1.0, 7.0)

    step(-1.0, 0.0, 5.0)      # marker 11

    led(255, 0, 0)            # red - marker 17
    step(-1.0, -1.0, 6.0)

    step(-1.0, 1.0, 5.0)      # marker 9

    led(255, 255, 0)          # yellow - marker 8
    step(-1.0, 0.0, 5.0)

    led(0, 255, 0)            # green block
    step(-1.0, -1.5, 6.0)

    led(0, 0, 139)            # dark blue block
    step(1.5, -0.5, 6.0)

    led(255, 0, 255)          # pink - marker 38
    step(1.5, -2.0, 7.0)

    step(-3.0, -1.0, 7.0)     # marker 42 home

    land()
    rospy.sleep(3.0)
    led(0, 0, 0)

except rospy.ROSInterruptException:
    pass
except KeyboardInterrupt:
    try:
        land()
        led(0, 0, 0)
    except rospy.ServiceException:
        pass