-- @include /koptilnya/libs/wire_component.txt
-- @include /koptilnya/libs/constants.txt
-- @include /koptilnya/libs/entity.txt
-- @include ./slave.txt
require('/koptilnya/libs/wire_component.txt')
require('/koptilnya/libs/constants.txt')
require('/koptilnya/libs/entity.txt')
require('./slave.txt')

SteeringAxle = class('SteeringAxle', WireComponent)

function SteeringAxle:createSlave(options, isRight)
    local config = {
        Lock = options.Lock,
        Camber = options.Camber,
        Caster = options.Caster,
        Ackermann = options.Ackermann,
        Toe = options.Toe,
        Direction = options.Direction,
        IsRight = isRight,
        Slave = wire.ports[self._prefix .. (isRight and '_RightSlave' or '_LeftSlave')],
        Wheel = wire.ports[self._prefix .. (isRight and '_RightWheel' or '_LeftWheel')],
        Offset = isRight and options.RightOffset or options.LeftOffset,
        Prefix = self._prefix .. (isRight and '_RightWheel' or '_LeftWheel'),
        Base = wire.ports.Base
    }

    return Slave:new(config)
end

function SteeringAxle:initialize(options)
    options = options or {}

    self.steer = 0
    self._prefix = 'Axle' .. options.Order

    self.leftSlave = self:createSlave(options, false)
    self.rightSlave = self:createSlave(options, true)
end

function SteeringAxle:getInputs()
    local inputs = {}

    inputs[self._prefix .. '_LeftSlave'] = 'entity'
    inputs[self._prefix .. '_RightSlave'] = 'entity'
    inputs[self._prefix .. '_LeftWheel'] = 'entity'
    inputs[self._prefix .. '_RightWheel'] = 'entity'

    return inputs
end

function SteeringAxle:getOutputs()
    local outputs = {}

    table.merge(outputs, self.leftSlave:getOutputs())
    table.merge(outputs, self.rightSlave:getOutputs())

    return outputs
end

function SteeringAxle:updateOutputs()
    self.leftSlave:updateOutputs()
    self.rightSlave:updateOutputs()
end

function SteeringAxle:update()
    self.leftSlave:update()
    self.rightSlave:update()
end