// SPDX-License-Identifier: GPL-3.0-or-later
// Author: Sascha Nitsch https://contentnation.net/@grumpydevelop

import { RobotStatus } from './robotstatus';
import { RoboBase } from './robobase';

class Rabbit extends RoboBase {
  carrotX: number = 0;
  carrotY: number = 0;
  running = false;
  mode = 'MUNCH';
  munchtime = 0;
  ready() {
    console.log('rabbit is ready');
  }

  start() {
    console.log('simulation started');
    this.cmd.powerRight = 0;
    this.cmd.powerLeft = 0;
    this.cmd.radarMin = 270;
    this.cmd.radarMax = 90;
    this.sendCmd();
    this.running = true;
  }

  statusReady(status: RobotStatus) {
    if (!this.running) {
      return;
    }
    switch (this.mode) {
      case 'RUN':
        const dx = this.carrotX - status.posX;
        const dy = this.carrotY - status.posY;
        const dir = Math.atan2(dx, -dy) * 180 / Math.PI;
        const dst = Math.sqrt(dx * dx + dy * dy);
        let rot = dir - status.orientation;
        if (rot < -180) {
          rot += 360;
        }
        if (rot > 180) {
          rot -= 360;
        }
        rot = Math.min(Math.max(-90, rot), 90);
        let desiredSpeed = 1;
        if (dst < 30) {
          desiredSpeed = dst / 40;
        }
        const speedDiff = Math.sin(rot * Math.PI / 180.0);
        // desired speed of left chain
        let dsl = desiredSpeed + speedDiff;
        // desired speed of right chain
        let dsr = desiredSpeed - speedDiff;
        // prevent overflows, reduce to limits but keep relative difference if possible
        if (dsl > 1) {
          dsr -= Math.max(dsl - 1, -1);
          dsl = 1;
        } else if (dsr > 1) {
          dsl -= Math.max(dsr - 1, -1);
          dsr = 1;
        }
        this.cmd.powerLeft = dsl;
        this.cmd.powerRight = dsr;
        // close and slow enough?
        if (dst < 5 && Math.abs(status.chainSpeedLeft) < .1 && Math.abs(status.chainSpeedRight) < .1) {
          this.mode = 'MUNCH';
          this.cmd.powerLeft = 0;
          this.cmd.powerRight = 0;
          this.munchtime = 5 * 20; // 5 sec
          console.log("munch");
        }
        break;
      case "MUNCH":
        if (this.munchtime) {
          --this.munchtime;
        } else {
          this.mode = 'RUN';
          this.carrotX = Math.random() * (this.width - 20) + 10;
          this.carrotY = Math.random() * (this.height - 20) + 10;
          console.log("target reached, new target", this.carrotX, this.carrotY);
        }
        break;
    }
    if (status.contactPoints && status.contactPoints.length > 0) {
      status.contactPoints.forEach((cp) => {
        // adjust angle by radar rotation
        const angle = cp.angle + status.radarPos;
        // global angle from position
        const globalAngle = angle + status.orientation;
        const targetX = Math.sin(globalAngle * Math.PI / 180)* cp.dist + status.posX;
        const targetY = -Math.cos(globalAngle * Math.PI / 180)* cp.dist + status.posY;
        // run the other way +- 45 degree
        let newTargetAngle = globalAngle + 180 + Math.random()*90 - 45
        if (newTargetAngle >= 360) {
          newTargetAngle -= 360;
        }
        if (newTargetAngle < 0) {
          newTargetAngle += 360;
        }
        // target is 50-100 units away
        const newTargetDistance = Math.random() * 50 + 50; 
        this.carrotX = status.posX + Math.sin(newTargetAngle * Math.PI / 180) * newTargetDistance;
        this.carrotY = status.posY - Math.cos(newTargetAngle * Math.PI / 180) * newTargetDistance;
        if (this.carrotX > this.width - 10) {
          this.carrotX = this.width - 10;
        }
        if (this.carrotY > this.height - 10) {
          this.carrotY = this.height - 10;
        }
        if (this.carrotX < 0) {
          this.carrotX = 10;
        }
        if (this.carrotY < 0) {
          this.carrotY = 10;
        }
        console.log("enemy at", targetX, targetY, "run to", this.carrotX, this.carrotY);
      });
    }
    this.sendCmd();
  }

  lost() {
    console.log('we lost');
    this.disconnect();
  }

  won() {
    console.log('we won');
    this.disconnect();
  }
}

var rabbit = new Rabbit('rabbit', 'scout');
rabbit.connect();