import logging; logger = logging.getLogger("morse." + __name__)
logger.setLevel(logging.DEBUG)
from morse.core.abstractobject import AbstractObject
from morse.core.exceptions import MorseRPCInvokationError
from morse.core.services import service
from morse.core import status, blenderapi
import morse.helpers.transformation 

def _robot_exists(robot):
    try:
        for obj, robot_instance in blenderapi.persistantstorage().robotDict.items():
            if obj.name == robot:
                return robot_instance
    except KeyError:
        try:
            for obj, robot_instance in blenderapi.persistantstorage().externalRobotDict.items():
                if obj.name == robot:
                    return robot_instance
        except KeyError:
            return None

class Communication(AbstractObject):
    def __init__(self):
        AbstractObject.__init__(self)

    def name(self):
        return "communication"

    @service
    def distance_and_view(self, robot1, robot2):
        """ Return the distance between the two robots, and a boolean which
        described if one can view the other. 
        """
        r1 = _robot_exists(robot1)
        r2 = _robot_exists(robot2)

        if not r1:
            raise MorseRPCInvokationError(robot1 + " does not exist in the simulation ")
        if not r2:
            raise MorseRPCInvokationError(robot2 + " does not exist in the simulation ")

        dist = r1.position_3d.distance(r2.position_3d)

        closest_obj = r1.bge_object.rayCastTo(r2.bge_object)

        return dist, closest_obj == r2.bge_object

    def action(self):
        pass

