import {
  ev3_motorA,
  ev3_motorB,
  ev3_motorC,
  ev3_motorD,
  ev3_runToRelativePosition,
  ev3_colorSensorRed,
  ev3_colorSensorGreen,
  ev3_pause,
  ev3_colorSensorBlue,
  ev3_ultrasonicSensor,
  ev3_ultrasonicSensorDistance,
  init_simulation,
  createRenderer,
  createPhysics,
  createTimer,
  createWorld,
  createPaper,
  createWall,
  createEv3,
  createFloor,
  createCSE,
  createRobotConsole,
  addControllerToWorld,
  saveToContext
} from "robot_simulation";


init_simulation(() => {
    const physics = createPhysics();
    const renderer = createRenderer();
    const timer = createTimer();
    const robot_console = createRobotConsole();
    
    const world = createWorld(physics, renderer, timer, robot_console);
    
    const program = createCSE();
    addControllerToWorld(program, world);
    
    const paper = createPaper(
        renderer, 
        "https://www.shutterstock.com/image-vector/black-white-stripes-260nw-785326606.jpg", 
        1, 
        1);
        
    addControllerToWorld(paper, world);
    
    const floor = createFloor(physics, renderer);
    addControllerToWorld(floor, world);
    
    const wall = createWall(physics, renderer);
    addControllerToWorld(wall, world);
    
    const ev3 = createEv3(physics, renderer);
    addControllerToWorld(ev3, world);
    
    saveToContext("world", world);
    saveToContext("ev3", ev3);
    
    return world;
});

// Student code below

let motorA = ev3_motorA();
let motorB = ev3_motorB();
let ultrasonicSensor = ev3_ultrasonicSensor();

ev3_pause(2000);

let loop = true;

while (loop) {
    let distance = ev3_ultrasonicSensorDistance(ultrasonicSensor);
    
    if (distance < 50) {
        loop = false;
        continue;
    }
    
    ev3_runToRelativePosition(motorA, 360, 200);
    ev3_runToRelativePosition(motorB, 360, 200);
    ev3_pause(3000);
}