#pragma once
#include "CoreMinimal.h"
#include "RobotPilotComponent.generated.h"

struct FRemoteControlPayload;

USTRUCT(BlueprintType)
struct FRobotActuators
{
	GENERATED_BODY()
	// Do we need a prent struct?
	// What will be in common?
};

USTRUCT(BlueprintType)
struct FTrainingEpisodeData
{
	GENERATED_BODY()
	FJsonObject JointsStates; // The total series of joint values per frame
	FJsonObject ControlsStates; // The total series of joint values per frame
	FJsonObject JointsStats; // The min / max / mean / std for joints series
	FJsonObject ControlsStats; // The min / max / mean / std for controls series
};


class ARobotPawn;

UCLASS(Blueprintable)
class LUCKYWORLDV2_API URobotPilotComponent : public UActorComponent


{
	GENERATED_BODY()
	
public:
	URobotPilotComponent();

	virtual void BeginPlay() override;
	virtual void TickComponent(float DeltaTime, enum ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override;
	virtual void InitPilotComponent();
	virtual void PostPhysicStepUpdate(const float SimulationTime);
	virtual FTransform GetReachableTransform();
	virtual bool GetIsReadyForTraining();
	virtual bool GetIsInRestState();
	
	UFUNCTION(BlueprintCallable)
	virtual void SetRobotTarget(const FTransform& TargetTransformIn);
	virtual void SetRobotCurrentRewardZone(const FTransform& RewardTransformIn);

	UFUNCTION()
	virtual void ReceiveRemoteCommand(const FRemoteControlPayload& RemoteRobotPayload);

	// Data
	virtual FJsonObject GetBufferedControlsData();
	virtual FJsonObject GetBufferedJointsData();
	virtual FTrainingEpisodeData GetTrainingEpisodeData(); 


	
protected: // Child class need access
	// Only to easy access within the component
	TObjectPtr<ARobotPawn> RobotOwner = nullptr;

	// ----------------
	// ----- ANIM -----
	// ----------------
protected: // Child class need access
	float AnimationStartTime = 0.f;
	float AnimationDuration = 0.f;
};