import numpy as np

from typing import List, AnyStr
from numpy.core.numeric import identity as identity
from numpy.typing import ArrayLike, NDArray

from spatz.dataset import Dataset
from spatz.simulations.data_source import DataSource
from spatz.logger import Logger
from spatz.sensors import Accelerometer, CoordSystem
from spatz.transforms import Transform


class H3LIS100DL(Accelerometer):
    def __init__(self, dataset: DataSource, logger: Logger, orientation=np.identity(3), offset: float = 0, transforms: List[Transform] = []):        
        super().__init__(dataset, logger, orientation, offset, transforms)

    def _get_name(self) -> AnyStr:
        return "H3LIS100DL"
    
    def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
        # The sensor only measures values between -100g and +100g and in g/LSB.
        g = 9.81
        x = np.floor(np.clip(x, -100*g, +100*g) / g)

        for i in range(3):
            value = np.random.random()
            if (value < 0.1):
                x[i] += 1

            if (value > 0.9):
                x[i] -= 1

        return x