# Path: navigation/MathUtils.py
# class MathUtils:
#     @staticmethod
#     def remap(value: int, from_low: int, from_high: int, to_low: int, to_high: int) -> int:
#         return int((value - from_low) * (to_high - to_low) / (from_high - from_low) + to_low)
# 
# Path: navigation/ObjectDetector.py
# class ObjectDetector(metaclass=abc.ABCMeta):
#     def __init__(self):
#         self._detected = False
#         self._circle_coordonates = None
# 
#     @abc.abstractmethod
#     def process(self, image):
#         pass
# 
#     @property
#     def detected(self):
#         return self._detected
# 
#     @property
#     def circle_coordonates(self):
#         return self._circle_coordonates
# 
#     @detected.setter
#     def detected(self, value):
#         self._detected = value
# 
#     @circle_coordonates.setter
#     def circle_coordonates(self, value):
#         self._circle_coordonates = value
# 
# Path: navigation/RobotSerialCommandsConverter.py
# class RobotSerialCommandsConverter:
#     MAX_ANGLE = 180
#     MIN_ANGLE = 0
#     MOTOR_COMMAND = 'M:{0}:{1}'
#     LIGHT_COMMAND = 'L:{0}'
#     MESSAGE_TERMINATOR = ';'
#     POWER_LIMITS = {'forward': {'max': 50, 'min': 0}, 'backward': {'max': -50, 'min': 0}}
#     DIRECTION_LIMITS = {'right': 50, 'left': -50}
# 
#     def get_steer_command(self, angle: int, percent_power: int, forward: bool) -> str:
#         direction = self.__get_converted_direction(angle)
#         power = self.__get_converted_power(percent_power, forward)
#         return self.MOTOR_COMMAND.format(direction, power)
# 
#     def get_lights_command(self, state: bool) -> str:
#         literal_state = {True: '1', False: '0'}
#         return self.LIGHT_COMMAND.format(literal_state[state])
# 
#     def __get_converted_power(self, percent_power: int, forward: bool) -> str:
#         power_limits_key = {True: 'forward', False: 'backward'}[forward]
#         return str(MathUtils.remap(
#                 percent_power, 0, 100,
#                 self.POWER_LIMITS[power_limits_key]['min'], self.POWER_LIMITS[power_limits_key]['max']))
# 
#     def __get_converted_direction(self, angle: int) -> int:
#         return MathUtils.remap(angle, self.MIN_ANGLE, self.MAX_ANGLE,
#                                self.DIRECTION_LIMITS['left'], self.DIRECTION_LIMITS['right'])


from navigation.MathUtils import MathUtils
from navigation.ObjectDetector import ObjectDetector
from navigation.RobotSerialCommandsConverter import RobotSerialCommandsConverter

    def has_command(self) -> bool:
        print(self.radius, self.__is_detection_in_range())
        if self.radius == 0 or not self.__is_detection_in_range():
            return False
        return True

    def get_command(self) -> str:
        if not self.has_command():
            return None
        return self.__robot_commands.get_steer_command(
                    self.__get_angle(self.center, self.__image),
                    self.__get_speed_percent(self.radius, self.__image),
                    True) + \
               RobotSerialCommandsConverter.MESSAGE_TERMINATOR

    def __is_detection_in_range(self):
        height, width, channels = self.__image.shape
        minimum_object_size, maximum_object_size = self.__get_object_bounded_sizes(width)
        if 2 * self.radius >= minimum_object_size and self.radius * 2 <= maximum_object_size:
            return True
        return False

    def __get_object_bounded_sizes(self, actual_object_width):
        return int(self.__object_size_threshold[0] * actual_object_width / 100), \
               int(self.__object_size_threshold[1] * actual_object_width / 100)

    def __get_angle(self, center: tuple, image):
        height, width, channels = image.shape
        x_coordonate = center[0]

# Path: navigation/MathUtils.py
# class MathUtils:
#     @staticmethod
#     def remap(value: int, from_low: int, from_high: int, to_low: int, to_high: int) -> int:
#         return int((value - from_low) * (to_high - to_low) / (from_high - from_low) + to_low)
# 
# Path: navigation/ObjectDetector.py
# class ObjectDetector(metaclass=abc.ABCMeta):
#     def __init__(self):
#         self._detected = False
#         self._circle_coordonates = None
# 
#     @abc.abstractmethod
#     def process(self, image):
#         pass
# 
#     @property
#     def detected(self):
#         return self._detected
# 
#     @property
#     def circle_coordonates(self):
#         return self._circle_coordonates
# 
#     @detected.setter
#     def detected(self, value):
#         self._detected = value
# 
#     @circle_coordonates.setter
#     def circle_coordonates(self, value):
#         self._circle_coordonates = value
# 
# Path: navigation/RobotSerialCommandsConverter.py
# class RobotSerialCommandsConverter:
#     MAX_ANGLE = 180
#     MIN_ANGLE = 0
#     MOTOR_COMMAND = 'M:{0}:{1}'
#     LIGHT_COMMAND = 'L:{0}'
#     MESSAGE_TERMINATOR = ';'
#     POWER_LIMITS = {'forward': {'max': 50, 'min': 0}, 'backward': {'max': -50, 'min': 0}}
#     DIRECTION_LIMITS = {'right': 50, 'left': -50}
# 
#     def get_steer_command(self, angle: int, percent_power: int, forward: bool) -> str:
#         direction = self.__get_converted_direction(angle)
#         power = self.__get_converted_power(percent_power, forward)
#         return self.MOTOR_COMMAND.format(direction, power)
# 
#     def get_lights_command(self, state: bool) -> str:
#         literal_state = {True: '1', False: '0'}
#         return self.LIGHT_COMMAND.format(literal_state[state])
# 
#     def __get_converted_power(self, percent_power: int, forward: bool) -> str:
#         power_limits_key = {True: 'forward', False: 'backward'}[forward]
#         return str(MathUtils.remap(
#                 percent_power, 0, 100,
#                 self.POWER_LIMITS[power_limits_key]['min'], self.POWER_LIMITS[power_limits_key]['max']))
# 
#     def __get_converted_direction(self, angle: int) -> int:
#         return MathUtils.remap(angle, self.MIN_ANGLE, self.MAX_ANGLE,
#                                self.DIRECTION_LIMITS['left'], self.DIRECTION_LIMITS['right'])


# Path: navigation/ObjectFollower.py
from navigation.MathUtils import MathUtils
from navigation.ObjectDetector import ObjectDetector
from navigation.RobotSerialCommandsConverter import RobotSerialCommandsConverter


    def has_command(self) -> bool:
        print(self.radius, self.__is_detection_in_range())
        if self.radius == 0 or not self.__is_detection_in_range():
            return False
        return True

    def get_command(self) -> str:
        if not self.has_command():
            return None
        return self.__robot_commands.get_steer_command(
                    self.__get_angle(self.center, self.__image),
                    self.__get_speed_percent(self.radius, self.__image),
                    True) + \
               RobotSerialCommandsConverter.MESSAGE_TERMINATOR

    def __is_detection_in_range(self):
        height, width, channels = self.__image.shape
        minimum_object_size, maximum_object_size = self.__get_object_bounded_sizes(width)
        if 2 * self.radius >= minimum_object_size and self.radius * 2 <= maximum_object_size:
            return True
        return False

    def __get_object_bounded_sizes(self, actual_object_width):
        return int(self.__object_size_threshold[0] * actual_object_width / 100), \
               int(self.__object_size_threshold[1] * actual_object_width / 100)

    def __get_angle(self, center: tuple, image):
        height, width, channels = image.shape
        x_coordonate = center[0]

        return MathUtils.remap(x_coordonate, 0, width, RobotSerialCommandsConverter.MIN_ANGLE,