#if UNITY_5_3_OR_NEWER
using UnityEngine;

namespace RoboidControl.Unity {
    /// <summary>
    /// The Unity representation of a Roboid Control motor
    /// </summary>
    public class Motor : Thing {

        /// <summary>
        /// The core motor
        /// </summary>
        public RoboidControl.Motor coreMotor => base.core as RoboidControl.Motor;

        /// <summary>
        /// Create the Unity representation of the motor
        /// </summary>
        /// <param name="coreMotor">The core motor</param>
        /// <returns>The Unity representation of a motor</returns>
		/// This uses a 'Motor' resource when available for the Unity representation.
		/// If this is not available, a default representation is created.
        public static Motor Create(RoboidControl.Motor coreMotor) {
            Motor motor;
            GameObject prefab = (GameObject)Resources.Load("Motor");
            if (prefab != null) {
                // Use resource prefab when available
                GameObject gameObj = Instantiate(prefab);
                motor = gameObj.GetComponent<Motor>();
                motor.Init(coreMotor);
            }
            else {
                // Default implementation
                GameObject gameObj = new(coreMotor.name);
                motor = gameObj.AddComponent<Motor>();
                motor.Init(coreMotor);

                Rigidbody rb = gameObj.AddComponent<Rigidbody>();
                rb.isKinematic = true;
            }
            return motor;
        }

        /// <summary>
        /// The maximum rotation speed of the motor in rotations per second
        /// </summary>
        public float maxSpeed = 5;

        /// <summary>
        /// The actual rotation speed in rotations per second
        /// </summary>
        public float rotationSpeed { get; protected set; }

        /// <summary>
        /// Update the Unity state
        /// </summary>
        protected override void FixedUpdate() {
            base.FixedUpdate();
            // We rotate the first child of the motor, which should be the axle.
            float rotation = 360 * this.rotationSpeed * Time.fixedDeltaTime;
            if (this.transform.childCount > 0)
                this.transform.GetChild(0).Rotate(rotation, 0, 0);
        }

        /// <summary>
        /// Handle the binary event containing the rotation speed
        /// </summary>
        protected override void HandleBinary() {
            RoboidControl.Motor coreMotor = core as RoboidControl.Motor;
            this.rotationSpeed = coreMotor.targetSpeed * maxSpeed;
        }

    }
}
#endif