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

rospy.init_node('flight')

get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
navigate = rospy.ServiceProxy('navigate', srv.Navigate)
navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
land = rospy.ServiceProxy('land', Trigger)

def goto(x=0, y=0, z=2, yaw=float('nan'), speed=0.5, frame_id='aruco_map', auto_arm=False, tolerance=0.2):
    navigate(x=x, y=y, z=z, yaw=yaw, speed=speed, frame_id=frame_id, auto_arm=auto_arm)

    while not rospy.is_shutdown():
        telem = get_telemetry(frame_id='navigate_target')
        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < tolerance:
            break
        rospy.sleep(0.2)

goto(frame_id='body', auto_arm=True)

a = [[2, 2], [5, 3], [7, 8], [4, 7]]
for coord in a:
    goto(x=coord[0], y=coord[1])
    rospy.sleep(3)
goto()
land()