from pydantic import BaseModel, Field


class ElevatorStatusUpdate(BaseModel):
    Floor: int = Field(..., description="Current floor (1-10)", ge=1, le=10)
    Dir: str = Field(..., description="Direction: UP, DOWN, or IDLE")
    Doors: str = Field(..., description="Door state: CLOSED, OPENING, OPEN, CLOSING")
    State: str = Field(..., description="FSM state: IDLE, MOVING, DOORS_OPENING, DOORS_OPEN, DOORS_CLOSING")


class ElevatorCommandRequest(BaseModel):
    floor: int = Field(..., description="Target floor (1-10)", ge=1, le=10)


class ElevatorCommandResponse(BaseModel):
    cmd: str = Field(..., description="Command string e.g. CALL_3, or NONE")


class ElevatorStateResponse(BaseModel):
    Floor: int = Field(..., description="Current floor")
    Dir: str = Field(..., description="Direction")
    Doors: str = Field(..., description="Door state")
    State: str = Field(..., description="FSM state")


class RobotPose(BaseModel):
    x: float = Field(..., description="X position in meters")
    y: float = Field(..., description="Y position in meters")
    theta: float = Field(..., description="Heading in radians")


class RobotStatusUpdate(BaseModel):
    state: str = Field(..., description="Nav state: IDLE, NAVIGATING, ARRIVED, ERROR")
    floor: int = Field(..., description="Robot's current floor", ge=1, le=10)
    pose: RobotPose = Field(..., description="Current robot pose")


class RobotGoalRequest(BaseModel):
    floor: int = Field(..., description="Target floor (1-10)", ge=1, le=10)
    pose: RobotPose = Field(..., description="Target pose on the floor")


class RobotGoalResponse(BaseModel):
    goal: RobotGoalRequest | None = Field(..., description="Nav goal or null on timeout")


class RobotStateResponse(BaseModel):
    state: str = Field(..., description="Nav state")
    floor: int = Field(..., description="Robot's current floor")
    pose: RobotPose = Field(..., description="Current robot pose")
    
class LockerCommandRequest(BaseModel):
    locker_id: int = Field(..., description="Locker number", ge=1)
    action: str = Field(..., description="open, close, or pulse")
    duration_ms: int = Field(3000, description="Pulse duration in milliseconds", ge=100, le=60000)


class LockerCommandResponse(BaseModel):
    ok: bool = Field(..., description="Whether command was accepted")
    command: dict | None = Field(None, description="Command payload for Jetson, or null on timeout")