import { RaycastSensor } from "./sensor.js";
import { FloorColorSensor } from "./sensor.js";

export class Robot {
    constructor(id, x, y, color = "blue") {
        this.id = id;
        this.x = x;
        this.y = y;
        this.velocity = 0;
        this.angle = 0; // Degrees
        this.width = 20;
        this.height = 20;
        this.color = color;
        this.sensors = [];

        this.addSensor(new RaycastSensor(this, -40, 13, -45, 60));
        this.addSensor(new RaycastSensor(this, 40, 13, 45, 60));
        this.addSensor(new FloorColorSensor(this, 0, 0));
    }

    update(ctx, gameWorld){
        this.update_position();
        this.update_sensors(gameWorld);
        this.draw(ctx);
    }

    update_sensors(gameWorld) {
        this.sensors.forEach(sensor => sensor.read(this, gameWorld));
    }

    addSensor(sensor) {
        if (this.sensors.length < 8) {
            this.sensors.push(sensor);
        }
    }

    update_position() {
        const radians = (this.angle * Math.PI) / 180;
        this.x += Math.cos(radians) * this.velocity;
        this.y += Math.sin(radians) * this.velocity;
    }

    move(velocity) {
        this.velocity = velocity;
    }

    turn(degrees) {
        this.angle += degrees;
    }

    draw(ctx) {
        ctx.fillStyle = this.color;
        ctx.save();
        ctx.translate(this.x, this.y);
        ctx.rotate((this.angle * Math.PI) / 180);
    
        // Draw the rectangle (tank body)
        ctx.fillRect(-this.width / 2, -this.height / 2, this.width, this.height);
    
        // Draw the triangle (direction indicator)
        ctx.beginPath();
        ctx.moveTo(this.width / 2, -this.height / 2);   // Tip of the triangle (front)
        ctx.lineTo(this.width, 0);  // Bottom left of triangle
        ctx.lineTo(this.width / 2, this.height / 2);   // Bottom right of triangle
        ctx.closePath();
    
        ctx.fill(); // Fill both the rectangle and the triangle
               

        ctx.restore();

        this.sensors.forEach(sensor => sensor.draw(ctx));
    }

    draw_sensors(ctx) {
        ctx.fillStyle = "yellow";
        
        this.sensors.forEach(sensor => {
            const radians = ((this.angle + sensor.angleOffset) * Math.PI) / 180;
            const sensorX = this.x + Math.cos(radians) * 15;
            const sensorY = this.y + Math.sin(radians) * 15;

            ctx.beginPath();
            ctx.arc(sensorX, sensorY, 3, 0, 2 * Math.PI);
            ctx.fill();
        });
    }
    
    
    
}