using System;
using Controller.Bicycle;
using Controller.Lean;
using Sensors;
using Sensors.ANT;
using Tracking;
using UnityEngine;

// Declare outisde for public visibility
public enum SteeringMode { frontWheel, Leaning, HMD };

namespace Controller
{
    [Serializable]
    public struct FrontWheelTrackerConfig
    {
        public FrontWheelTracker frontWheelTracker;
        public float multiplicator;

        public float AdjustedRotation => frontWheelTracker.SteerRotation * multiplicator;
    }

    [Serializable]
    public struct HMDTrackerConfig
    {
        public HMDTracker cameraTracker;
        public float multiplicator;
        public float steeringOffset;

        public float AdjustedRotation => cameraTracker.SteerRotation * multiplicator;
    }

    [RequireComponent(typeof(IBicycleController))]
    public class SensorBikeController : MonoBehaviour
    {
        public PolarRotationMapping polarRotationMapping;
        public FrontWheelTrackerConfig frontWheelTrackerConfig;
        public HMDTrackerConfig hmdTrackerConfig;
        private float leanFactor;

        public bool steer = true;
        public bool accelerate = true;
        public bool lean = true;
        public SteeringMode steeringSelection;

        private IBicycleController bicycleController;
        private bool isFrontWheelTrackerNotNull;
        private bool isHMDTrackerNotNull;
        private BikeSensorData sensorData;

        private void Start()
        {
            isFrontWheelTrackerNotNull = frontWheelTrackerConfig.frontWheelTracker != null;
            isHMDTrackerNotNull = hmdTrackerConfig.cameraTracker != null;
            bicycleController = GetComponent<IBicycleController>();
            sensorData = BikeSensorData.Instance;
            leanFactor = 90f / (polarRotationMapping.maxRight - polarRotationMapping.center);
        }

        private void Update()
        {
            Debug.Log("Bike Sensor Controller called");
            var speedData = sensorData.SpeedData;

            if (speedData != null && accelerate) SetSpeed(speedData.Value);

            if (steer) SetSteer();

            if (lean) SetLeaningAngle();
        }

        private void SetSteer()
        {
            Debug.Log("Updating Steering");
            switch (steeringSelection) {
                case SteeringMode.frontWheel:
                    if (isFrontWheelTrackerNotNull) {
                        bicycleController.CurrentSteerAngle = frontWheelTrackerConfig.AdjustedRotation * 2f;
                    }
                    break;
                case SteeringMode.Leaning:
                    var polarData = sensorData.BleData;
                    if (polarData != null)
                    {
                        bicycleController.CurrentLeaningAngle = (polarData.Value.Acc.y - polarRotationMapping.center) * leanFactor;
                        // Activate below in case we also need the steering angle
                        //bicycleController.CurrentSteerAngle = (polarData.Value.Acc.y - polarRotationMapping.center) * leanFactor;
                    }
                    break;
                case SteeringMode.HMD:
                    if (isHMDTrackerNotNull)
                    {
                        // We emprirically observed a right-drift
                        // We subtract a constant to counteract this
                        bicycleController.CurrentSteerAngle = hmdTrackerConfig.AdjustedRotation - 2f;
                    }
                    break;
            }
            Debug.Log("Updating Steering Angle to " + bicycleController.CurrentSteerAngle);
        }

        private void SetLeaningAngle()
        {
            //bicycleController.CurrentLeaningAngle = 
        }

        private void SetSpeed(SpeedSensorData speedData)
        {
            bicycleController.CurrentSpeed = speedData.Speed;
        }
    }
}