import { Plot } from '../plot/mod.ts'
import { range } from '../utils/list.ts'

const distance = 200 //cm
const size = 300 //cm
const gap = 2.6 //cm
const radius = 1 //cm

const markerSize = 2 * radius * 4 //4: px aspect factor

function getPoints() {
	const plot = {
		x: [] as number[],
		y: [] as number[],
		mode: 'markers',
		name: 'references',
		marker: { size: markerSize },
	}

	const step = 20 * gap
	for (const x of range(0, size + 1, step)) {
		for (const y of range(0, size + 1, step)) {
			plot.x.push(x)
			plot.y.push(y)
		}
	}

	return plot
}

function computePoints(
	samples: number,
	options = { static: true, dynamic: true, rounding: true },
) {
	const label = [
		options.static ? 'static' : undefined,
		options.dynamic ? 'dyn.' : undefined,
		options.rounding ? 'round.' : undefined,
	].filter((v) => v).join('+')

	const plot = {
		x: [] as number[],
		y: [] as number[],
		mode: 'markers',
		name: `simulation (${label})`,
		marker: { size: markerSize },
		opacity: 0.3,
	}

	const step = 20 * gap
	for (const x of range(0, size + 1, step)) {
		for (const y of range(0, size + 1, step)) {
			//Projected coordinates
			const phi = Math.atan(x / distance)
			const theta = Math.atan(y / distance)

			for (const _ of range(0, samples)) {
				// Static errors
				const laserAxisError = () => Math.random() * 3 - 3 / 2
				const staticErrors = () => laserAxisError()

				// Dynamic errors
				const headMotorsError = () => Math.random() * 0.02 - 0.01
				const headOrbitError = () => Math.random() * 0.2 - 0.1
				const dynamicErrors = () => headMotorsError() + headOrbitError()

				// Code rounding
				const codeThetaRound = () => Math.random() * 4.39 - 4.39 / 2
				const codePhiRound = () => Math.random() * 6.43 - 6.43 / 2

				const thetaErr = (options.static && staticErrors()) +
					(options.dynamic && dynamicErrors()) +
					(options.rounding && codeThetaRound())

				const phiErr = (options.static && staticErrors()) +
					(options.dynamic && dynamicErrors()) +
					(options.rounding && codePhiRound())

				//Cartesian coordinates
				const x1 = Math.tan(phi + toRad(phiErr)) * distance
				const y1 = Math.tan(theta + toRad(thetaErr)) * distance

				plot.x.push(x1)
				plot.y.push(y1)
			}
		}
	}

	return plot
}

function getHoles() {
	const plot = {
		x: [] as number[],
		y: [] as number[],
		mode: 'markers',
		marker: {
			size: markerSize,
			color: 'rgba(0, 0, 0, 0)',
			line: {
				color: 'rgba(0, 0, 0, 1)',
				width: 1,
			},
		},
		opacity: 0.3,
		name: 'holes',
	}

	let shift = false

	for (const x of range(0, size, gap)) {
		for (const y of range(0, size, gap)) {
			plot.x.push(shift ? x + gap / 2 : x)
			plot.y.push(y)
			shift = !shift
		}
	}

	return plot
}

const plot = new Plot()

plot.plot([
	computePoints(1e3, { static: true, dynamic: true, rounding: true }),
	computePoints(1e3, { static: true, dynamic: true, rounding: false }),
	computePoints(1e3, { static: false, dynamic: true, rounding: false }),
	getPoints(),
	getHoles(),
], {
	xaxis: { range: [-10, size + 10] },
	yaxis: { range: [-10, size + 10] },
})

function toRad(degree: number): number {
	return degree * Math.PI / 180
}