importScripts("https://cdn.jsdelivr.net/pyodide/v0.23.4/full/pyodide.js");

let sensorData = {}; // ✅ Declare sensorData globally

async function initializePyodide() {
    self.pyodide = await loadPyodide({
        indexURL: "https://cdn.jsdelivr.net/pyodide/v0.23.4/full/"
    });

    // ✅ Explicitly define send_to_main before running Python
    self.pyodide.globals.set("send_to_main", (event, data) => {
        self.postMessage({ type: event, data: data });
    });

    // ✅ Now set get_sensor_data AFTER Pyodide is initialized
    self.pyodide.globals.set("get_sensor_data", (name) => {
        return sensorData[name] ?? null; // Return sensor value or null if not set
    });

    // ✅ Define the robot module in Python
    self.pyodide.runPython(`
import sys
import pyodide

class RobotModule:
    def get_sensor(self, name):
        return get_sensor_data(name)  # ✅ This should now work!

robot = RobotModule()

def fire():
    send_to_main("fire", None)

def turn(deg):
    send_to_main("turn", deg)

class ConsoleOutput:
    def write(self, text):
        if text.strip():  # Avoid empty writes
            send_to_main("console", text)  # ✅ send_to_main is now properly defined
        return None

    def flush(self):
        pass

sys.stdout = ConsoleOutput()
sys.stderr = ConsoleOutput()

# ✅ Register robot module in sys.modules
sys.modules["robot"] = robot
`);

    self.postMessage({ type: "ready" }); // Notify main thread that Pyodide is ready
}

initializePyodide();

self.onmessage = async (event) => {
    if (!self.pyodide) {
        self.postMessage({ type: "error", message: "Pyodide not initialized yet." });
        return;
    }

    if (event.data.type === "sensor_update") {
        // ✅ Update sensorData when receiving a sensor update
        Object.assign(sensorData, event.data.data);
    } else {
        try {
            let result = await self.pyodide.runPythonAsync(event.data.code);
            
            if (result !== undefined && result !== null && result !== "") {
                self.postMessage({ type: "console", data: result });
            }
        } catch (error) {
            self.postMessage({ type: "error", message: error.toString() });
        }
    }
};