const URL = "192.168.185.20";
const INFO_POSITION = 0x01;
const INFO_LED = 0x02;

const DEBUG = false;

let socketMoteur = undefined;
let socketInfos = undefined;
let moteur = undefined;
let led = undefined;
let position = undefined;


const connectSockets = () => {
    if ((socketMoteur != undefined) || (socketInfos != undefined)) {
        disconnectSocket();
    }
    socketMoteur = new WebSocket("ws://" + URL + "/motors.ws");
    socketInfos  = new WebSocket("ws://" + URL + "/infos.ws");
    socketInfos.binaryType = "arraybuffer";

    socketMoteur.onclose = function(event) {
        if (event.wasClean) {
            console.log(`[socketMoteur] Connection closed cleanly, code=${event.code} reason=${event.reason}`);
        } else {
            console.log('[socketMoteur] Connection died');
        }
    };

    socketMoteur.onopen = function(e) {
        console.log("[socketMoteur] Connection established");
    };

    socketInfos.onopen = function(e) {
        console.log("[socketInfos] Connection established");
        position.reset();
    };

    socketInfos.onclose = function(event) {
        if (event.wasClean) {
            console.log(`[socketInfos] Connection closed cleanly, code=${event.code} reason=${event.reason}`);
        } else {
            console.log('[socketInfos] Connection died');
        }
    };

    socketMoteur.onerror = function(error) {
        console.log(`[socketMoteur] ERROR : ${error}`);
    };

    socketInfos.onerror = function(error) {
        console.log(`[socketInfos] ERROR : ${error}`);
    };
}

const disconnectSocket = () => {
    if (socketMoteur != undefined) {
        socketMoteur.close();
    }
    if (socketInfos != undefined) {
        socketInfos.close();
    }

    socketMoteur = undefined;
    socketInfos = undefined;
}




class Moteur {

    motors_buf = new Float32Array(2);

    send(d, g, v) {
        if (socketMoteur == undefined) {
            return;
        }
        this.motors_buf[0] = d * v;
        this.motors_buf[1] = g * v;
        
        socketMoteur.send(this.motors_buf);
    }

    avancer(v) {
        this.send(1, 1, v);
    }

    reculer(v) {
        this.send(-1, -1, v);
    }

    droite(v) {
        this.send(1, -1, v);
    }

    gauche(v) {
        this.send(-1, 1, v);
    }

    stop() {
        this.send(0, 0, 0);
    }


}

class Led {

    http = undefined;

    send(color){
        this.http = new XMLHttpRequest();
        this.http.open('POST', 'http://' + URL + '/led/set_color', true);
        this.http.setRequestHeader('Content-type', 'application/x-www-form-urlencoded');
        this.http.send('ledcolor=' + color);
    }

    red(){
        this.send("#ff0000")
    }

    green(){
        this.send("#00ff00")
    }

    blue(){
        this.send("#0000ff")
    }

}

class Position {

    posX = 0;
    posY = 0;
    Rot = 0;

    constructor(socket) {
        socket.addEventListener("message", e => {
            const view = new DataView(e.data);
            let pos = 0;
        
            const mask = view.getUint8(0);
        
            if (mask & INFO_POSITION) {
                const position_x = view.getFloat32(1);
                const position_y = view.getFloat32(5);
                const position_a = view.getFloat32(9);
                
                if (DEBUG) {
                    console.log(
                        {"posX": position_x, "posY": position_y, "Rot": position_a }
                    );
                }
            }
        });
    }

    reset() {
        try {
            const request = new XMLHttpRequest();
            request.open("GET", "http://" + URL + "/position/reset");
            request.send();
        } catch (e) {}
    }
}


function run() {
    connectSockets();
    moteur = new Moteur();
    led = new Led();
    position = new Position(socketInfos);
}