import numpy as np

from typing import List, AnyStr

from numpy.typing import ArrayLike
from spatz.dataset import Dataset
from spatz.logger import Logger
from spatz.sensors import Accelerometer
from spatz.transforms import Transform, GaussianNoise


class SCA3300(Accelerometer):
    def __init__(self, dataset: Dataset, logger: Logger, orientation=np.identity(3), offset=0, transforms: List[Transform] = []):
        super().__init__(dataset, logger, orientation, offset, transforms)

        self.__noise = GaussianNoise(0, 0.001)

    def _get_name(self) -> AnyStr:
        return 'SCA3300'
    
    def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
        x /= 9.81

        x[0], x[1] = x[1], x[0]

        return self.__noise(0, x)