// visualiser.js
// Dynamic 6x6 sensor visualiser with external centroid and mass input
// Now supports 4 highlight indices (green points)

// --- Core setup ---
autowatch = 1;
mgraphics.init();
mgraphics.autofill = 0;
mgraphics.relative_coords = 0;

// --- Data storage ---
var gridSize = 6;
var values = new Array(36).fill(0);
var sensorMax = new Array(36).fill(700); // default max per sensor
var tracers = [];
var highlightIndices = []; // stores indices (1–36) that will be green

// --- Parameters ---
var fadeFactor = 0.9;
var radiusMin = 5;
var radiusMax = 30;
var scaleCircles = 1.0;
var scaleCentroid = 1.0;
var tracerCount = 20;

// --- Centroid ---
var cx = 0.5;
var cy = 0.5;
var weight = 0.5;

// --- Initialize ---
function initValues() {
    values = new Array(gridSize * gridSize).fill(0);
}
initValues();

// --- Receive list: 36 sensor values + centroidX + centroidY + mass + 4 highlights ---
function list() {
    var a = arrayfromargs(arguments);
    if (a.length != 43) return; // expect 43 values total (36 + 3 + 4)

    // --- First 36: sensor values ---
    for (var i = 0; i < 36; i++) {
        var v = Math.max(0, a[i]);
        var vmax = Math.max(1, sensorMax[i]);
        values[i] = v / vmax;
    }

    // --- Next 3: centroid x, y, mass ---
    cx = Math.max(0, Math.min(1, a[36]));
    cy = Math.max(0, Math.min(1, a[37]));
    weight = Math.max(0, a[38]);

    // --- Last 4: highlight indices (1–36) ---
    highlightIndices = [];
    for (var i = 39; i < 43; i++) {
        var idx = Math.floor(a[i]) - 1; // convert 1-based to 0-based
        if (idx >= 0 && idx < 36 && highlightIndices.indexOf(idx) === -1)
            highlightIndices.push(idx);
    }

    // Add to tracers
    tracers.push({x: cx, y: cy, alpha: 1.0});
    if (tracers.length > tracerCount) tracers.shift();

    mgraphics.redraw();
}

// --- Set sensormax uniformly ---
function sensormax(v) {
    v = Math.max(1, v);
    for (var i = 0; i < 36; i++) sensorMax[i] = v;
}

// --- Scaling controls ---
function scalecircles(v) {
    scaleCircles = Math.max(0.1, v);
}
function scalecentroid(v) {
    scaleCentroid = Math.max(0.1, v);
}

// --- Grid size (optional) ---
function grid(n) {
    gridSize = Math.max(1, Math.floor(n));
    initValues();
    mgraphics.redraw();
}

// --- Drawing ---
function paint() {
    with (mgraphics) {
        var w = box.rect[2] - box.rect[0];
        var h = box.rect[3] - box.rect[1];
        var margin = 0.1;
        var gridW = w * (1 - 2 * margin);
        var gridH = h * (1 - 2 * margin);
        var gridCells = gridSize - 1;
        var cellW = gridW / gridCells;
        var cellH = gridH / gridCells;

        // Background
        set_source_rgba(0.05, 0.05, 0.05, 1);
        rectangle(0, 0, w, h);
        fill();

        // Grid lines
        set_source_rgba(0.4, 0.4, 0.4, 0.2);
        for (var i = 0; i <= gridCells; i++) {
            move_to(margin * w + i * cellW, margin * h);
            line_to(margin * w + i * cellW, margin * h + gridH);
            stroke();
            move_to(margin * w, margin * h + i * cellH);
            line_to(margin * w + gridW, margin * h + i * cellH);
            stroke();
        }

        // Circles (sensor nodes)
        for (var i = 0; i < gridSize; i++) {
            for (var j = 0; j < gridSize; j++) {
                var idx = i * gridSize + j;
                var val = values[idx];
                var radius = (radiusMin + val * (radiusMax - radiusMin)) * scaleCircles;
                var x = margin * w + j * cellW;
                var y = margin * h + (gridSize - 1 - i) * cellH;

                // Determine color
                if (highlightIndices.indexOf(idx) !== -1) {
                    set_source_rgba(0.2, 0.9, 0.3, 0.9); // green
                } else {
                    set_source_rgba(0.2, 0.6, 0.9, 0.8); // blue
                }

                ellipse(x - radius / 2, y - radius / 2, radius, radius);
                fill();
            }
        }

        // Tracers
        for (var t = 0; t < tracers.length; t++) {
            var tr = tracers[t];
            set_source_rgba(1, 0.2, 0.2, tr.alpha * 0.6);
            var tx = margin * w + tr.y * gridW;
            var ty = margin * h + (1 - tr.x) * gridH;
            ellipse(tx - 4, ty - 4, 8, 8);
            fill();
            tr.alpha *= fadeFactor;
        }

        // Centroid
        var cxPix = margin * w + cy * gridW;
        var cyPix = margin * h + (1 - cx) * gridH;
        var crad = (radiusMin + 15 * weight) * scaleCentroid;
        set_source_rgba(1, 0.2, 0.2, 1);
        ellipse(cxPix - crad / 2, cyPix - crad / 2, crad, crad);
        fill();
    }
}