/*
 * Copyright (c) Contributors to the Open 3D Engine Project.
 * For complete copyright and license terms please see the LICENSE at the root of this distribution.
 *
 * SPDX-License-Identifier: Apache-2.0 OR MIT
 *
 */
#pragma once

#include "DriveModels/AckermannDriveModel.h"
#include "ManualControlEventHandler.h"
#include "VehicleInputs.h"
#include <AzCore/Component/Component.h>
#include <AzCore/Component/TickBus.h>
#include <AzCore/std/smart_ptr/unique_ptr.h>
#include <AzCore/std/utils.h>
#include <ROS2Controllers/VehicleDynamics/VehicleConfiguration.h>
#include <ROS2Controllers/VehicleDynamics/VehicleInputControlBus.h>
#include <VehicleDynamics/VehicleModelLimits.h>

namespace ROS2Controllers::VehicleDynamics
{
    //! A central vehicle (and robot) dynamics component, which can be extended with additional modules.
    class VehicleModelComponent
        : public AZ::Component
        , private VehicleInputControlRequestBus::Handler
        , private AZ::TickBus::Handler
    {
    public:
        AZ_RTTI(VehicleModelComponent, "{7093AE7A-9F64-4C77-8189-02C6B7802C1A}", AZ::Component);
        VehicleModelComponent() = default;

        // Component overrides
        void Activate() override;
        void Deactivate() override;

        static void Reflect(AZ::ReflectContext* context);

    private:
        void OnTick(float deltaTime, AZ::ScriptTimePoint time) override;

        // VehicleInputControlRequestBus::Handler overrides
        void SetTargetLinearSpeed(float speedMpsX) override;
        void SetTargetLinearSpeedV3(const AZ::Vector3& speedMps) override;
        void SetTargetSteering(float steering) override;
        void SetTargetAngularSpeed(float rateZ) override;
        void SetTargetAngularSpeedV3(const AZ::Vector3& rate) override;
        void SetTargetAccelerationFraction(float accelerationFraction) override;
        void SetTargetSteeringFraction(float steeringFraction) override;
        void SetTargetLinearSpeedFraction(float speedFractionX) override;
        void SetTargetAngularSpeedFraction(float rateFractionZ) override;
        void SetDisableVehicleDynamics(bool isDisable) override;
        AZStd::pair<AZ::Vector3, AZ::Vector3> GetWheelsOdometry() override;

    protected:
        ManualControlEventHandler m_manualControlEventHandler;
        bool m_enableManualControl = true;
        VehicleInputDeadline m_inputsState;
        VehicleConfiguration m_vehicleConfiguration;
        virtual DriveModel* GetDriveModel() = 0;
    };
} // namespace ROS2Controllers::VehicleDynamics