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

#include <math.h>

Perception::Perception() {
  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++)
    this->trackedObjects[objIx] = nullptr;
}

Perception::Perception(Placement *sensors, unsigned int sensorCount)
    : Perception() {
  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;
}

Sensor *Perception::FindSensorOfType(unsigned int sensorType) {
  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Sensor *sensor = (Sensor *)this->sensorPlacements[sensorIx].thing;
    if (sensor->type == sensorType)
      return sensor;
  }

  return nullptr;
}

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

  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
    TrackedObject *obj = trackedObjects[objIx];
    if (obj == nullptr)
      continue;
    if (obj->position.angle > direction - range &&
        obj->position.angle < direction + range) {

      minDistance = fminf(minDistance, obj->position.distance);
    }
  }
  return minDistance;
}

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

  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
    TrackedObject *obj = trackedObjects[objIx];
    if (obj == nullptr)
      continue;
    if (obj->position.angle > horizontalDirection - range &&
        obj->position.angle < horizontalDirection + range) {

      minDistance = fminf(minDistance, obj->position.distance);
    }
  }

  return minDistance;
}
bool Perception::ObjectNearby(float direction, float range) {
  if (range < 0)
    range = -range;

  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
    TrackedObject *obj = trackedObjects[objIx];
    if (obj == nullptr)
      continue;

    if (obj->position.angle > direction - range &&
        obj->position.angle < direction + range) {
      if (obj->position.distance <= nearbyDistance)
        return true;
    }
  }
  return false;
}

void Perception::AddTrackedObject(Sensor *sensor, Polar position) {
  TrackedObject *obj = new TrackedObject(sensor, position);

  unsigned char farthestObjIx = 0;
  unsigned char availableSlotIx = 0;
  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
    if (this->trackedObjects[objIx] == nullptr) {
      availableSlotIx = objIx;
    }
    // Do we see the same object?
    else {
      if (obj->IsTheSameAs(this->trackedObjects[objIx])) {
        this->trackedObjects[objIx]->Refresh(obj->position);
        return;
      }
      // Is this the fartest object we see?
      else if (this->trackedObjects[farthestObjIx] == nullptr ||
               (this->trackedObjects[objIx]->position.distance >
                this->trackedObjects[farthestObjIx]->position.distance)) {
        farthestObjIx = objIx;
      }
    }
  }

  // Check if an perception slot is available (we currently see less than the
  // max number of objects)
  if (availableSlotIx < maxObjectCount) {
    // a slot is available
    this->trackedObjects[availableSlotIx] = obj;
  }
  // If this object is closer than the farthest object, then replace it
  else if (obj->position.distance <
           this->trackedObjects[farthestObjIx]->position.distance) {
    this->trackedObjects[farthestObjIx] = obj;
    // we may want to destroy the fartest object, but if it is created
    // externally, other links may still exist...
  }
}

unsigned char Perception::TrackedObjectCount() {
  unsigned char objectCount = 0;
  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
    if (this->trackedObjects[objIx] != nullptr)
      objectCount++;
  }
  return objectCount;
}

TrackedObject **Perception::GetTrackedObjects() { return this->trackedObjects; }

void Perception::Update(float currentTimeMs) {
  float deltaTime = currentTimeMs - lastUpdateTimeMs;
  if (deltaTime <= 0)
    return;

  lastUpdateTimeMs = currentTimeMs;

  // Update sensing
  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Placement thingPlacement = sensorPlacements[sensorIx];
    Thing *thing = thingPlacement.thing;
    if (thing == nullptr)
      continue;

    if (thing->type == Thing::DistanceSensorType) {
      DistanceSensor *distanceSensor = (DistanceSensor *)thing;

      float distance = distanceSensor->GetDistance();
      float angle = thingPlacement.horizontalDirection;
      Polar position = Polar(angle, distance);
      AddTrackedObject(distanceSensor, position);
    } else if (thing->type == Thing::SwitchType) {
      Switch *switchSensor = (Switch *)thing;
      if (switchSensor != nullptr && switchSensor->IsOn()) {
        Polar position =
            Polar(thingPlacement.horizontalDirection, nearbyDistance);
        AddTrackedObject(switchSensor, position);
      }
    }
  }

  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
    TrackedObject *obj = trackedObjects[objIx];
    if (obj == nullptr)
      continue;

    if (obj->DegradeConfidence(deltaTime) == false) {
      // delete obj
      if (roboid != nullptr && roboid->networkSync != nullptr)
        roboid->networkSync->DestroyObject(obj);
      this->trackedObjects[objIx] = nullptr;
    }
  }
  if (this->trackedObjects[0] != nullptr) {
  }
}

void Perception::UpdatePose(Polar translation) {
  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
    TrackedObject *obj = trackedObjects[objIx];
    if (obj == nullptr)
      continue;

    Polar newPosition = obj->position - translation;
    obj->position = newPosition;
  }
}

void Perception::UpdatePose(Quaternion rotation) {
  // only rotation around vertical axis is supported for now
  float rotationAngle;
  Vector3 rotationAxis;
  rotation.ToAngleAxis(&rotationAngle, &rotationAxis);
  // Make sure rotation axis is positive
  if (rotationAxis.y < 0)
    rotationAngle = -rotationAngle;

  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
    TrackedObject *obj = trackedObjects[objIx];
    if (obj == nullptr)
      continue;

    float updatedAngle = Angle::Normalize(obj->position.angle - rotationAngle);
    obj->position.angle = updatedAngle;
  }
}