#include "Roboid.h"
#include <Arduino.h>
Roboid::Roboid() {
  this->configuration = nullptr;
  this->thingCount = 0;
}

Roboid::Roboid(Placement configuration[], unsigned int thingCount) {
  this->configuration = configuration;
  this->thingCount = thingCount;

  perception.AddSensors(configuration, thingCount);
  propulsion.AddMotors(configuration, thingCount);
}

bool Roboid::Drive(Waypoint* waypoint, float currentTimeMs) {
  bool finished = propulsion.Drive(waypoint->point, waypoint->rotation, currentTimeMs);
  return finished;
}

void Roboid::FollowTrajectory(Trajectory* trajectory) {
  this->trajectory = trajectory;
  this->waypointIx = 0;
}

void Roboid::Update(float currentTimeMs) {
  if (this->trajectory == nullptr)
    return;

  Waypoint* waypoint = &this->trajectory->waypoints[this->waypointIx];
  Serial.printf("Driving waypoints %d:  %f %f\n", this->waypointIx,
                waypoint->point.z, waypoint->rotation);
  if (Drive(waypoint, currentTimeMs)) {
    this->waypointIx++;
    if (this->waypointIx == this->trajectory->waypointCount) {
      this->trajectory = nullptr;
      this->waypointIx = 0;
      // stop
      propulsion.SetTwistSpeed(0, 0);
    }
  }
}