import time
import math

# Solar module for simulation of world
import objects.solar as solar # Modeling of the world

from objects.motor import Motor # Small helper functions and constants
from objects.board import Board

STEP = 10
LOOP_DELAY = 0.005 # In seconds

# Testing embedding the mirrors in the world
board = Board()
world = solar.World(board, tilt_deg=15)  # The world is tilted 15 degrees around y-axis

HEIGHT = 30

source = solar.Source(world, pos=(-30, -50, 100))
target = solar.Target(world, pos=(30, -50, 40))

# Create mirrors in a 3x2 grid
for x in range(3):
    for y in range(2):
        mirror = solar.Mirror(world, cluster_x=x, cluster_y=y)
        world.add_mirror(mirror)

world.update_mirrors_from_source_target(source, target)

def print_status():
    for i, mirror in enumerate(world.mirrors):
        pitch, yaw = mirror.get_angles()
        print(f"Mirror {i} ({mirror.cluster_x}, {mirror.cluster_y}) angles -> pitch: {pitch:.2f}°, yaw: {yaw:.2f}°")

print_status()

a = 1
t = time.time()

# Main
try:
    while True:
        source.move(10 * math.sin(a * t), 10 * math.cos(a * t))
        print(source.pos)

        world.update_mirrors_from_source_target(source, target)
        print_status()

        time.sleep(LOOP_DELAY)

        t = time.time()

except KeyboardInterrupt:
    pass