-- @name Grip Steering
-- @author DarkSupah
-- @server
-- @include ./slave.txt
Steering = class('Steering')

require('./slave.txt')

local options = {
    Camber = 0,
    Caster = 85,
    Ackermann = 10,
    Lock = 50
}

function Steering:_adjustPorts()
    local inputs = {
        Axles = 'table',
        Base = 'entity',
        LeftSlave = 'entity',
        RightSlave = 'entity'
    }

    local outputs = {
        SteerAngle = 'number',
        TargetAngle = 'number'
    }

    wire.adjustPorts(inputs, outputs)
end

function Steering:_createSlaves()
    local entities = {wire.ports.LeftSlave, wire.ports.RightSlave}
    local slaves = {}

    for k, v in pairs(entities) do
        local slave = Slave:new({
            Entity = v,
            IsLeft = k % 2 == 1,
            Base = wire.ports.Base,
            Camber = self.slavesConfig.Camber,
            Caster = self.slavesConfig.Caster,
            Ackermann = self.slavesConfig.Ackermann
        })

        table.insert(self.slaves, slave)
    end
end

function Steering:_updateOutputs()
    wire.ports.TargetAngle = self.targetAngle
end

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

    self.slavesConfig = {
        Camber = options.Camber,
        Caster = options.Caster,
        Ackermann = options.Ackermann
    }

    self.lock = 50

    self.targetAngle = 0
    self.angle = 0

    self.slaves = {}

    self:_adjustPorts()
    self:_createSlaves()
end

function Steering:update()
    local horizontal = wire.ports.Axles.Horizontal.Value

    self.targetAngle = horizontal * self.lock
    self.angle = -horizontal * self.lock

    for k, v in pairs(self.slaves) do
        v:rotate(self.angle)
    end

    self:_updateOutputs()
end

local steering = Steering:new(options)

hook.add('think', 'SteeringUpdate', function()
    steering:update()
end)