import random
import logging

from mathema.actors.actor import Actor
log = logging.getLogger(__name__)


class Sensor(Actor):
    def __init__(self, sid, cx_pid, name, vector_length, fanout_pids, scape=None):
        super().__init__(f"Sensor-{sid}")
        self.sid = sid
        self.cx_pid = cx_pid
        self.sname = name
        self.vl = vector_length
        self.fanout = fanout_pids
        self.scape = scape

    async def run(self):
        while True:
            msg = await self.inbox.get()
            tag = msg[0]

            log.debug(f"sensor {self.sid} got sensor message: %s", msg)

            if tag == "sync":
                vec = await self._sense()
                log.debug(f"sensor {self.sid} sensed vec: %s", vec)
                for pid in self.fanout:
                    await pid.send(("forward", self.sid, vec))

            elif tag == "terminate":
                return

    async def _sense(self):
        if self.sname == "rng":
            return [random.random() for _ in range(self.vl)]
        elif self.sname == "xor_GetInput" and self.scape:
            await self.scape.send(("sense", self.sid, self))
            msg = await self.inbox.get()
            if msg[0] == "percept":
                return msg[1]
            else:
                return [0.0] * self.vl
        elif self.sname == "car_GetFeatures" and self.scape:
            await self.scape.send(("sense", self.sid, self))
            msg = await self.inbox.get()
            if msg[0] == "percept":
                vec = msg[1]

                out = [max(-1.0, min(1.0, float(x))) for x in vec]
                if len(out) < self.vl:
                    out = out + [0.0] * (self.vl - len(out))
                elif len(out) > self.vl:
                    out = out[:self.vl]
                return out
            else:
                return [0.0] * self.vl
        else:
            return [0.0] * self.vl