{% import "partials/fields.html" as f %}
{% import "partials/lanelet_search.html" as ls %}
{% import "partials/icons.html" as ic %}

{%- set spawn_slot = document.lanelet_slot(target.id ~ '.spawn') -%}
{%- set goal_slot = document.lanelet_slot(target.id ~ '.goal') -%}

<form hx-post="/draft/{{ draft.id }}/entity/{{ target.id }}"
      hx-trigger="change delay:200ms" hx-target="#editor-body" hx-swap="innerHTML">
  <p class="ed-kicker">{{ 'Ego vehicle' if target.kind == 'ego' else 'Vehicle' }}</p>
  <h3 class="ed-heading">{{ target.display_name }}</h3>

  <div class="ed-field">
    <label class="ed-label">Name</label>
    <input type="text" name="title" class="ed-input" value="{{ target.title }}">
  </div>
  <div class="ed-field">
    <label class="ed-label">CARLA blueprint</label>
    <input type="text" name="vehicle_type" class="ed-input mono" style="font-size:11.5px"
           value="{{ target.vehicle_type }}">
  </div>
  <div class="ed-field">
    <label class="ed-label">Initial speed <span class="unit">(km/h)</span></label>
    <input type="number" step="any" name="initial_speed_kmh" class="ed-input"
           value="{{ target.initial_speed_kmh }}">
  </div>

  <h4 class="ed-subheading">{{ ic.icon('target', 12) }} Spawn</h4>
  <div class="ed-field">
    <label class="ed-label">Lanelet ID</label>
    {# The field here, the map -- and with it the choice between a pinned
       lanelet and a constraint search -- behind Edit: a constraint is a
       statement about the map, and this column is 384px wide. #}
    {{ f.lanelet_field('spawn_lanelet_id', target.spawn.lanelet_id, draft) }}
    <p class="ed-help">
      {% if target.spawn.deriving %}
        Derived from the search ({{ target.spawn.binding_title or 'no binding yet' }}, this ID the default a non-swept run uses),
      {% elif not target.spawn.searching %}
        Pinned,
      {% else %}
        Searched ({{ target.spawn.constraints|length }} constraint{{ '' if target.spawn.constraints|length == 1 else 's' }}, this ID the default a non-swept run uses),
      {% endif %}
      {% if target.spawn.s.mode == 'fixed' %}
        {{ target.spawn.s.value }} m along it.
      {% else %}
        offset derived from the map.
      {% endif %}
      Edit opens the map, where all of that is chosen.
    </p>
  </div>

  {% if target.kind == 'ego' %}
    {% set autoware = target.driven_by == 'autoware' %}
    <h4 class="ed-subheading">{{ ic.icon('car', 12) }} Driven by</h4>
    <div class="ed-field">
      <select name="driven_by" class="ed-input">
        <option value="autopilot" {% if not autoware %}selected{% endif %}>
          TrafficManager (CARLA autopilot)
        </option>
        <option value="autoware" {% if autoware %}selected{% endif %}>
          Autoware
        </option>
      </select>
      <p class="ed-help">
        Which stack drives the ego, exported as <code>ego.entity</code>.
        Autoware plans its own route, so it needs a goal below; an ego the
        TrafficManager drives reads none.
      </p>
    </div>

    {# The goal sits with the spawn because it is the other end of the same
       thing: where the run starts and where it is meant to get to. It is not a
       card, because a card happens *during* a run and a goal is what the ego
       needs before one can start -- Autoware plans its route from the spawn to
       the goal and only then engages. #}
    <h4 class="ed-subheading">{{ ic.icon('target', 12) }} Goal</h4>
    <div class="ed-field">
      <label class="ed-label">Goal lanelet</label>
      {# The readout only; the map -- and the same Fixed / Constraint search
         choice the spawn has -- is below, outside this form. #}
      {{ f.lanelet_field('goal_lanelet_id',
                         target.goal.lanelet_id if target.goal else none, draft) }}
      <p class="ed-help">
        {% if target.goal and target.goal.searching %}
          Searched: the sweeper runs the scenario once per matching lanelet.
        {% elif target.goal and target.goal.deriving %}
          Derived from the lanelet the search picks.
        {% endif %}
        {% if autoware %}
          Required: Autoware plans its route to it and will not move without
          one.
        {% else %}
          Optional: the TrafficManager drives this ego and reads no goal. Give
          one to say where the run was meant to end.
        {% endif %}
      </p>
      {% if target.goal and not autoware %}
        <button type="button" class="ed-btn-sm" style="margin-top:6px"
                data-clear-field="pick-goal_lanelet_id">Clear goal</button>
      {% endif %}
    </div>
    {% if target.goal %}
      <div class="ed-field">
        <label class="ed-label">
          Offset along the goal lanelet <span class="unit">(m)</span>
        </label>
        <input type="number" step="any" name="goal_s" class="ed-input"
               value="{{ target.goal.s }}">
      </div>
    {% endif %}
  {% endif %}
</form>

{# Outside the form above, because the search built in here is made of forms
   and a form cannot nest. The two halves find each other by id. #}
{% call f.lanelet_modal('spawn_lanelet_id', target.spawn.lanelet_id, draft,
                        'spawn lanelet') %}
  {{ ls.chooser(spawn_slot, draft, document, selected) }}

  {# Where along the lanelet, under the same heading as which lanelet: it is one
     question -- where does this vehicle start -- and one panel answering it.
     Its own form, because the panel is shown outside the inspector's. #}
  <form hx-post="/draft/{{ draft.id }}/entity/{{ target.id }}"
        hx-trigger="change delay:200ms" hx-target="#editor-body" hx-swap="innerHTML"
        style="margin-top:16px">
    <div class="ed-field">
      <label class="ed-label">Position along it <span class="unit">(m)</span></label>
      <div class="ed-radio-row" style="margin-bottom:8px">
        <label class="ed-radio">
          <input type="radio" name="spawn_s_mode" value="fixed"
                 {% if target.spawn.s.mode == 'fixed' %}checked{% endif %}>
          <span>Fixed</span>
        </label>
        <label class="ed-radio">
          <input type="radio" name="spawn_s_mode" value="derived"
                 {% if target.spawn.s.mode == 'derived' %}checked{% endif %}>
          <span>Derived</span>
        </label>
      </div>
      <input type="number" step="any" name="spawn_s" class="ed-input"
             value="{{ target.spawn.s.value }}">
      {% if target.spawn.s.mode == 'derived' %}
        <p class="ed-help">The value a run falls back to when nothing derives it.</p>
      {% endif %}
    </div>

    {% if target.spawn.s.mode == 'derived' %}
      <div class="ed-derived">
        {{ f.binding_picker('s', target.spawn.s.binding, 'stop_line_offset', 'Derived from', document, draft) }}
      </div>
    {% endif %}

    {% if target.kind != 'ego' %}
      {# Off the centreline and turned: a pedestrian waiting at the kerb to
         cross.  A vehicle is snapped back onto the road, so for one these
         mostly read zero.  The ego spawns from its own Hydra keys, which have
         neither. #}
      <div class="ed-field">
        <label class="ed-label">Off the centreline <span class="unit">(m, + left)</span></label>
        <input type="number" step="any" name="spawn_t" class="ed-input"
               value="{{ target.spawn.t }}">
      </div>
      <div class="ed-field">
        <label class="ed-label">Heading from the lane <span class="unit">(&deg;, + anticlockwise)</span></label>
        <input type="number" step="any" name="spawn_heading_deg" class="ed-input"
               value="{{ target.spawn.heading_deg|round(1) }}">
      </div>
      <div class="ed-field">
        <input type="hidden" name="spawn_hidden_shown" value="1">
        <label class="ed-check">
          <input type="checkbox" name="spawn_hidden" value="on" {% if target.spawn.hidden %}checked{% endif %}>
          <span>Spawn out of the world<span class="ed-help">Under the map with physics off, until a Follow Trajectory card brings it in. For a road user a recording picks up late.</span></span>
        </label>
      </div>
    {% endif %}
  </form>
{% endcall %}

{% if target.kind == 'ego' %}
  {# The goal's map, outside the form for the same reason the spawn's is. A goal
     that has not been chosen yet still gets the panel: a search is *how* a goal
     is chosen, so it cannot be made to wait until one has been pinned. #}
  {% call f.lanelet_modal('goal_lanelet_id',
                          target.goal.lanelet_id if target.goal else none,
                          draft, 'Goal lanelet') %}
    {{ ls.chooser(goal_slot, draft, document, selected) }}
  {% endcall %}
{% endif %}

{% if target.kind != 'ego' or document.entities|length > 1 %}
  <button class="ed-btn-danger" style="width:100%; margin-top:16px"
          hx-post="/draft/{{ draft.id }}/entity/{{ target.id }}/delete"
          hx-target="#editor-body" hx-swap="innerHTML"
          hx-confirm="Delete this actor, its actions and every condition that names it?">
    {{ ic.icon('trash', 13) }} Delete actor
  </button>
{% endif %}