#include "Perception.h"
#include "Angle.h"
#include "DistanceSensor.h"
#include "Switch.h"

#include <math.h>

Perception::Perception() {}

Perception::Perception(Placement *sensors, unsigned int sensorCount) {
  this->sensorCount = sensorCount;
  this->sensorPlacements = (Placement *)sensors;
}

unsigned int Perception::GetSensorCount() { return this->sensorCount; }

Sensor *Perception::GetSensor(unsigned int sensorId) {
  if (sensorId >= this->sensorCount)
    return nullptr;

  Thing *thing = this->sensorPlacements[sensorId].thing;
  if (thing->IsSensor())
    return (Sensor *)thing;

  return nullptr;
}

float Perception::GetDistance(float direction, float range) {
  float minDistance = INFINITY;
  if (range < 0)
    range = -range;

  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Placement placement = sensorPlacements[sensorIx];
    // This still needs support for angles wrapping around 180 degrees !!!!
    if (placement.horizontalDirection > direction - range &&
        placement.horizontalDirection < direction + range) {
      Thing *thing = placement.thing;
      if (thing == nullptr)
        continue;

      if (thing->type == Thing::DistanceSensorType) {
        DistanceSensor *distanceSensor = (DistanceSensor *)thing;
        if (distanceSensor != nullptr && distanceSensor->ObjectNearby())
          minDistance = fmin(minDistance, distanceSensor->GetDistance());
      }
    }
  }
  return minDistance;
}

float Perception::GetDistance(float horizontalDirection,
                              float verticalDirection, float range) {
  float minDistance = INFINITY;
  if (range < 0)
    range = -range;

  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Placement placement = sensorPlacements[sensorIx];
    // This still needs support for angles wrapping around 180 degrees !!!!
    if (placement.horizontalDirection > horizontalDirection - range &&
        placement.horizontalDirection < horizontalDirection + range &&
        placement.verticalDirection > verticalDirection - range &&
        placement.verticalDirection < verticalDirection + range) {
      Thing *thing = placement.thing;
      if (thing == nullptr)
        continue;

      if (thing->type == Thing::DistanceSensorType) {
        DistanceSensor *distanceSensor = (DistanceSensor *)thing;
        if (distanceSensor != nullptr && distanceSensor->ObjectNearby())
          minDistance = fmin(minDistance, distanceSensor->GetDistance());
      }
    }
  }
  return minDistance;
}
bool Perception::ObjectNearby(float direction, float range) {
  if (range < 0)
    range = -range;

  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Placement placement = sensorPlacements[sensorIx];
    if (placement.horizontalDirection > direction - range &&
        placement.horizontalDirection < direction + range) {
      Thing *thing = placement.thing;
      if (thing == nullptr)
        continue;

      if (thing->type == Thing::DistanceSensorType) {
        DistanceSensor *distanceSensor = (DistanceSensor *)thing;
        if (distanceSensor != nullptr && distanceSensor->ObjectNearby())
          return true;
      } else if (thing->type == Thing::SwitchType) {
        Switch *switchSensor = (Switch *)thing;
        if (switchSensor != nullptr && switchSensor->IsOn())
          return true;
      }
    }
  }
  return false;
}