mod engine;
use engine::*;
mod camera;
mod config;
mod drone;
mod helpers;
mod logger;
mod rendering;
mod simulation;

mod graphics_util;

use crate::drone::input::*;
use crate::simulation::{SimMode, Simulation};

use crate::config::SimulationConfig;
use helpers::list_files;
use std::fs;

const INPUTS_DIR: &str = "inputs/";
const CONFIGS_DIR: &str = "configurations/final/";
const RESULTS_DIR: &str = "results/";

use std::path::PathBuf;
use std::thread::JoinHandle;

fn main() {
    run_batch();
}

fn run_batch() {
    let _ = fs::remove_dir_all(RESULTS_DIR);
    let _ = fs::create_dir_all(RESULTS_DIR);

    let input_files = list_files(INPUTS_DIR);
    let config_files = list_files(CONFIGS_DIR);

    let mut handles: Vec<JoinHandle<()>> = Default::default();

    for input_path in input_files {
        for config_path in &config_files {
            let cp = config_path.clone();
            let ip = input_path.clone();
            handles.push(std::thread::spawn(move || {
                run(&ip, &cp);
            }));
        }
    }
    for handle in handles {
        handle.join().unwrap();
    }

    println!("All simulations completed.");
}

fn run(input_path: &PathBuf, config_path: &PathBuf) {
    let input_name = input_path.file_stem().unwrap().to_string_lossy();

    let inputs = InputRecording::load_from_file(input_path.to_str().unwrap())
        .expect("Failed to load input recording");
    let config_name = config_path.file_stem().unwrap().to_string_lossy();

    let config: SimulationConfig =
        toml::from_str(&fs::read_to_string(config_path).unwrap()).expect("Invalid config file");

    println!(
        "Running simulation: input={} config={}",
        input_name, config_name
    );

    let mut world = World::new(config.tickrate);

    let drone = drone::Drone::new(
        &mut world,
        Box::new(drone::stacked::StackedController::new(config.clone())),
        drone::MotorCharacteristics {
            max_thrust: config.max_thrust,
            max_torque: config.max_torque,
            time_constant: config.time_constant,
            ..Default::default()
        },
        config.mass,
    );

    let result_file = format!("{}/{}_{}.csv", RESULTS_DIR, input_name, config_name);

    let mut sim = Simulation::new(
        drone,
        world,
        SimMode::Playback(inputs.clone(), 0.0),
        Some(result_file),
        config.drone_tick_rate,
    );

    sim.run().unwrap();
}

async fn run_record(output: String, config_path: &PathBuf) {
    println!(
        "Recording inputs to {}, using config {}",
        output,
        config_path.to_str().unwrap_or("<INVALID CONFIG PATH>")
    );

    let config: SimulationConfig =
        toml::from_str(&fs::read_to_string(config_path).unwrap()).expect("Invalid config file");

    let mut world = World::new(config.tickrate);

    let drone = drone::Drone::new(
        &mut world,
        Box::new(drone::stacked::StackedController::new(config.clone())),
        drone::MotorCharacteristics {
            max_thrust: config.max_thrust,
            max_torque: config.max_torque,
            time_constant: config.time_constant,
            ..Default::default()
        },
        config.mass,
    );

    let mut sim = Simulation::new(
        drone,
        world,
        SimMode::Record(InputRecording::default(), output),
        None,
        config.drone_tick_rate,
    );

    sim.run_and_render().await.unwrap();
}