import numpy as np

from math import acos, asin


def process_angle(_angle):
    ret = _angle
    if ret < 0:
        ret += (abs(ret) // (2*np.pi) + 1) * 2*np.pi
    if ret >= 2 * np.pi:
        ret -= (abs(ret) // (2*np.pi)) * 2*np.pi
    assert 0 <= ret < 2 * np.pi, f'invalid angle: {ret}'
    assert abs(np.sin(ret) - np.sin(_angle)
               ) < 1e-5 and (np.cos(ret) - np.cos(_angle)) < 1e-5
    return ret


def asincos(sin_value, cos_value):
    if sin_value >= 0:
        # 第一象限和第二象限
        return acos(cos_value)
    else:
        if cos_value >= 0:
            # 第四象限
            return asin(sin_value)
        else:
            # 第三象限
            return 2*np.pi - acos(cos_value)