"""Alle gemessenen Koordinaten der Quelle und der Sonne haben den Ursprung in der linken unteren Ecke des Clusters in einem rechtshaendigen flachen System."""

from objects.generic import Source, Target

import math
import objects.motor as motor
import numpy as np
from objects.calculator import get_angles


class Mirror:
    def __init__(self, world, cluster_x=0, cluster_y=0):
        self.world: World = world
        self.cluster_x = cluster_x
        self.cluster_y = cluster_y

        # Store the motors
        self.theta = motor.Motor(self.world.board)
        self.phi = motor.Motor(self.world.board)

        # Position in un-tilted coordinate system
        self.pos = np.array(
            [cluster_x * self.world.grid_size, cluster_y * self.world.grid_size, 0.0]
        )

    def get_pos_rotated(self):
        return self.world.rotate_point_y(self.pos)

    def set_angle_from_source_target(self, source: Source, target: Target):
        "Set the angles of a mirror from global source and target vectors."

        rot_pos = self.get_pos_rotated()
        rel_source = source.pos - rot_pos
        rel_target = target.pos - rot_pos

        phi, theta = get_angles(rel_source, rel_target)

        # Update the angles based on the normals in rotated positions
        self.phi.set_angle(phi)
        self.theta.set_angle(theta)

    def get_angles(self):
        return self.phi.angle, self.theta.angle


class World:
    def __init__(self, board, tilt_deg=0.0):
        self.board = board

        self.grid_size = 10  # In cm
        self.tilt_deg = tilt_deg  # Tilt of the grid system around y-axis
        self.mirrors: list[Mirror] = []

    def add_mirror(self, mirror):
        self.mirrors.append(mirror)

    def update_mirrors_from_source_target(self, source: Source, target: Target):
        for mirror in self.mirrors:
            mirror.set_angle_from_source_target(source, target)

    def rotate_point_y(self, point):
        """Rotate a point around the y-axis by the world's tilt angle."""
        x, y, z = point
        theta = math.radians(self.tilt_deg)
        cos_t = math.cos(theta)
        sin_t = math.sin(theta)
        x_rot = x * cos_t + z * sin_t
        y_rot = y
        z_rot = -x * sin_t + z * cos_t
        return np.array([x_rot, y_rot, z_rot])