;(function () {
  'use strict'

  function $(id) {
    return document.getElementById(id)
  }

  var canvas = null
  var wrap = null
  var ctx = null
  var W = 0
  var H = 0
  var camCX = 0
  var camCY = 0
  var SCALE = 0
  var zoomLevel = 1.0

  var boatStart = { x: 0.0, y: 1.0 }
  var boatEnd = { x: 0.0, y: 0.15 }
  var dragging = null
  var camHeading = 0
  var boatT = 0
  var boatDir = 1
  var lastTime = null

  var prevVisible = null
  var detectedStreak = 0
  var blindStreak = 0
  var lastDetectedStreak = 0
  var lastBlindStreak = 0
  var prevDetectedStreak = 0
  var prevBlindStreak = 0

  var lastPinchDist = null
  var rafId = 0
  var running = false
  var camDir = -1

  function resetStreaks() {
    detectedStreak = 0
    blindStreak = 0
    lastDetectedStreak = 0
    lastBlindStreak = 0
    prevDetectedStreak = 0
    prevBlindStreak = 0
    prevVisible = null
  }

  function resize() {
    if (!wrap || !canvas) return
    W = wrap.clientWidth
    H = wrap.clientHeight
    canvas.width = W
    canvas.height = H
    camCX = W / 2
    camCY = H * 0.88
    SCALE = Math.min(W, H) * 0.42 * zoomLevel
  }

  function updateZoomLabel() {
    var el = $('zoom-label')
    if (el) el.textContent = Math.round(zoomLevel * 100) + '%'
  }

  function applyZoom(delta) {
    var factor = delta > 0 ? 1.12 : 1 / 1.12
    zoomLevel = Math.max(0.3, Math.min(8, zoomLevel * factor))
    SCALE = Math.min(W, H) * 0.42 * zoomLevel
    updateZoomLabel()
  }

  function getParams() {
    return {
      fov: +$('input-fov').value,
      frontSpeed: +$('input-front-speed').value,
      backSpeed: +$('input-back-speed').value,
      frontArc: +$('input-front-arc').value,
      boatSpeed: +$('input-boat-speed').value,
    }
  }

  function worldToCanvas(wx, wy) {
    return { x: camCX + wx * SCALE, y: camCY - wy * SCALE }
  }

  function canvasToWorld(cx, cy) {
    return { x: (cx - camCX) / SCALE, y: (camCY - cy) / SCALE }
  }

  function isFront(heading, arc) {
    var h = ((heading % 360) + 360) % 360
    if (h > 180) h -= 360
    return Math.abs(h) <= arc / 2
  }

  function scanTime(p) {
    return p.frontArc / p.frontSpeed + (360 - p.frontArc) / p.backSpeed
  }

  function setDir(d) {
    camDir = d
    var cw = $('dir-cw')
    var ccw = $('dir-ccw')
    if (cw) cw.classList.toggle('active', d === 1)
    if (ccw) ccw.classList.toggle('active', d === -1)
  }

  function boatAngle(bx, by) {
    return (Math.atan2(bx, by) * 180) / Math.PI
  }

  function isBoatVisible(bx, by, heading, fovVal) {
    var rel = (((boatAngle(bx, by) - heading + 540) % 360) - 180)
    return Math.abs(rel) <= fovVal / 2 && by > -0.05
  }

  function drawDirIndicator(d) {
    if (!ctx) return
    var cx = 30,
      cy = 30,
      r = 14
    ctx.beginPath()
    ctx.arc(cx, cy, r, 0, Math.PI * 2)
    ctx.strokeStyle = 'rgba(74,158,255,0.2)'
    ctx.lineWidth = 1
    ctx.stroke()
    var start = -Math.PI / 2
    var end = start + (d > 0 ? 1.2 : -1.2)
    ctx.beginPath()
    ctx.arc(cx, cy, r - 3, start, end, d < 0)
    ctx.strokeStyle = 'rgba(74,158,255,0.7)'
    ctx.lineWidth = 2
    ctx.stroke()
    var tx = cx + Math.cos(end) * (r - 3)
    var ty = cy + Math.sin(end) * (r - 3)
    ctx.beginPath()
    ctx.arc(tx, ty, 2, 0, Math.PI * 2)
    ctx.fillStyle = 'rgba(74,158,255,0.7)'
    ctx.fill()
    ctx.fillStyle = 'rgba(74,158,255,0.55)'
    ctx.font = "7px 'Courier New', monospace"
    ctx.textAlign = 'center'
    ctx.fillText(d > 0 ? 'CW' : 'CCW', cx, cy + 3)
  }

  function draw(p, bx, by, inFov) {
    if (!ctx) return
    ctx.clearRect(0, 0, W, H)

    ctx.fillStyle = '#060d16'
    ctx.fillRect(0, 0, W, H)
    ctx.fillStyle = '#06100a'
    ctx.fillRect(0, camCY, W, H - camCY)

    ctx.beginPath()
    ctx.moveTo(0, camCY)
    ctx.lineTo(W, camCY)
    ctx.strokeStyle = 'rgba(74,158,255,0.3)'
    ctx.lineWidth = 1
    ctx.setLineDash([6, 4])
    ctx.stroke()
    ctx.setLineDash([])

    var niceIntervals = [0.01, 0.025, 0.05, 0.1, 0.25, 0.5, 1.0, 2.0, 5.0]
    var targetMinPx = 100
    var targetMaxPx = 240
    var ringInterval = niceIntervals[0]
    for (var i = 0; i < niceIntervals.length; i++) {
      var iv = niceIntervals[i]
      var px = iv * SCALE
      if (px >= targetMinPx && px <= targetMaxPx) {
        ringInterval = iv
        break
      }
      if (px < targetMinPx) ringInterval = iv
    }
    var maxDist = Math.sqrt(Math.pow(Math.max(camCX, W - camCX), 2) + Math.pow(camCY, 2))
    var maxRingCount = Math.ceil(maxDist / (ringInterval * SCALE)) + 1
    function fmtDist(d) {
      return d < 1 ? Math.round(d * 1000) + 'm' : d.toFixed(d < 10 ? 2 : 1).replace(/\.0+$/, '') + 'km'
    }

    for (var ri = 1; ri <= maxRingCount; ri++) {
      var r = ri * ringInterval * SCALE
      ctx.beginPath()
      ctx.arc(camCX, camCY, r, 0, Math.PI * 2)
      ctx.strokeStyle = 'rgba(74,158,255,0.10)'
      ctx.lineWidth = 0.5
      ctx.stroke()
      ctx.beginPath()
      ctx.moveTo(camCX - 5, camCY - r)
      ctx.lineTo(camCX + 5, camCY - r)
      ctx.strokeStyle = 'rgba(74,158,255,0.5)'
      ctx.lineWidth = 1
      ctx.stroke()
      ctx.fillStyle = 'rgba(74,158,255,0.55)'
      ctx.font = "10px 'Courier New', monospace"
      ctx.textAlign = 'left'
      ctx.fillText(fmtDist(ri * ringInterval), camCX + 8, camCY - r + 4)
    }

    var compassR = Math.min(camCX * 0.88, camCY * 0.92)
    var canvasBase = -Math.PI / 2
    for (var deg = 0; deg < 360; deg += 10) {
      var a = canvasBase + (deg * Math.PI) / 180
      var isMajor = deg % 30 === 0
      var r0 = compassR
      var r1 = compassR + (isMajor ? 8 : 4)
      ctx.beginPath()
      ctx.moveTo(camCX + Math.cos(a) * r0, camCY + Math.sin(a) * r0)
      ctx.lineTo(camCX + Math.cos(a) * r1, camCY + Math.sin(a) * r1)
      ctx.strokeStyle = isMajor ? 'rgba(74,158,255,0.5)' : 'rgba(74,158,255,0.2)'
      ctx.lineWidth = isMajor ? 1 : 0.5
      ctx.stroke()
      if (isMajor) {
        var lx = camCX + Math.cos(a) * (r1 + 10)
        var ly = camCY + Math.sin(a) * (r1 + 10)
        ctx.fillStyle = 'rgba(74,158,255,0.4)'
        ctx.font = "8px 'Courier New', monospace"
        ctx.textAlign = 'center'
        ctx.textBaseline = 'middle'
        ctx.fillText(deg + '°', lx, ly)
        ctx.textBaseline = 'alphabetic'
      }
    }

    ctx.beginPath()
    ctx.moveTo(camCX, camCY)
    ctx.lineTo(camCX, 0)
    ctx.strokeStyle = 'rgba(74,158,255,0.12)'
    ctx.lineWidth = 0.5
    ctx.setLineDash([4, 4])
    ctx.stroke()
    ctx.setLineDash([])

    var frontHalf = p.frontArc / 2
    var frontA1 = canvasBase - (frontHalf * Math.PI) / 180
    var frontA2 = canvasBase + (frontHalf * Math.PI) / 180
    var INF = Math.max(W, H) * 3
    ctx.save()
    ctx.beginPath()
    ctx.moveTo(camCX, camCY)
    ctx.lineTo(camCX + Math.cos(frontA1) * INF, camCY + Math.sin(frontA1) * INF)
    ctx.arc(camCX, camCY, INF, frontA1, frontA2)
    ctx.closePath()
    ctx.fillStyle = 'rgba(74,158,255,0.03)'
    ctx.fill()
    ctx.beginPath()
    ctx.moveTo(camCX, camCY)
    ctx.lineTo(camCX + Math.cos(frontA2) * INF, camCY + Math.sin(frontA2) * INF)
    ctx.arc(camCX, camCY, INF, frontA2, frontA1 + Math.PI * 2)
    ctx.closePath()
    ctx.fillStyle = 'rgba(255,74,74,0.03)'
    ctx.fill()
    ctx.restore()

    for (var ai = 0; ai < 2; ai++) {
      var aedge = ai === 0 ? frontA1 : frontA2
      ctx.beginPath()
      ctx.moveTo(camCX, camCY)
      ctx.lineTo(camCX + Math.cos(aedge) * INF, camCY + Math.sin(aedge) * INF)
      ctx.strokeStyle = 'rgba(74,158,255,0.3)'
      ctx.lineWidth = 1
      ctx.setLineDash([5, 5])
      ctx.stroke()
      ctx.setLineDash([])
    }

    var labelR = 80
    ctx.font = "8px 'Courier New', monospace"
    ctx.textAlign = 'center'
    ctx.fillStyle = 'rgba(74,158,255,0.45)'
    ctx.fillText('FRONT ' + p.frontArc + '°', camCX, camCY - labelR)
    ctx.fillStyle = 'rgba(255,74,74,0.35)'
    if (camCY + 18 < H - 2) ctx.fillText('BACK ' + (360 - p.frontArc) + '°', camCX, camCY + 18)
    ctx.fillStyle = 'rgba(74,158,255,0.4)'
    ctx.fillText('±' + frontHalf.toFixed(0) + '°', camCX + Math.cos(frontA1) * labelR, camCY + Math.sin(frontA1) * labelR)
    ctx.fillText('±' + frontHalf.toFixed(0) + '°', camCX + Math.cos(frontA2) * labelR, camCY + Math.sin(frontA2) * labelR)

    var camRad = (camHeading * Math.PI) / 180
    var fovRad = (p.fov * Math.PI) / 180
    var coneLen = Math.max(W, H) * 2
    ctx.beginPath()
    ctx.moveTo(camCX, camCY)
    ctx.arc(camCX, camCY, coneLen, canvasBase + camRad - fovRad / 2, canvasBase + camRad + fovRad / 2)
    ctx.closePath()
    ctx.fillStyle = 'rgba(74,158,255,0.07)'
    ctx.fill()
    ctx.beginPath()
    ctx.moveTo(camCX, camCY)
    ctx.arc(camCX, camCY, coneLen, canvasBase + camRad - fovRad / 2, canvasBase + camRad + fovRad / 2)
    ctx.closePath()
    ctx.strokeStyle = 'rgba(74,158,255,0.6)'
    ctx.lineWidth = 1
    ctx.stroke()

    ctx.beginPath()
    ctx.moveTo(camCX, camCY)
    ctx.lineTo(camCX + Math.cos(canvasBase + camRad) * 32, camCY + Math.sin(canvasBase + camRad) * 32)
    ctx.strokeStyle = 'rgba(74,158,255,0.9)'
    ctx.lineWidth = 1.5
    ctx.stroke()

    var bC = worldToCanvas(bx, by)
    var bsC = worldToCanvas(boatStart.x, boatStart.y)
    var beC = worldToCanvas(boatEnd.x, boatEnd.y)
    ctx.beginPath()
    ctx.moveTo(bsC.x, bsC.y)
    ctx.lineTo(beC.x, beC.y)
    ctx.strokeStyle = 'rgba(255,74,74,0.25)'
    ctx.lineWidth = 1
    ctx.setLineDash([4, 3])
    ctx.stroke()
    ctx.setLineDash([])

    ctx.beginPath()
    ctx.moveTo(camCX, camCY)
    ctx.lineTo(bC.x, bC.y)
    ctx.strokeStyle = 'rgba(255,74,74,0.12)'
    ctx.lineWidth = 0.5
    ctx.stroke()

    if (inFov) {
      ctx.beginPath()
      ctx.arc(bC.x, bC.y, 14, 0, Math.PI * 2)
      ctx.fillStyle = 'rgba(0,229,160,0.12)'
      ctx.fill()
    }

    ctx.beginPath()
    ctx.arc(bC.x, bC.y, 5, 0, Math.PI * 2)
    ctx.fillStyle = inFov ? '#00e5a0' : '#ff4a4a'
    ctx.fill()
    ctx.strokeStyle = inFov ? 'rgba(0,229,160,0.5)' : 'rgba(255,74,74,0.4)'
    ctx.lineWidth = 1.5
    ctx.stroke()

    ctx.font = "9px 'Courier New', monospace"
    ctx.textAlign = 'left'
    ctx.fillStyle = inFov ? 'rgba(0,229,160,0.7)' : 'rgba(255,100,100,0.6)'
    ctx.fillText('TGT', bC.x + 8, bC.y - 4)

    ctx.beginPath()
    ctx.arc(bsC.x, bsC.y, 4, 0, Math.PI * 2)
    ctx.fillStyle = '#ff4a4a'
    ctx.fill()
    ctx.beginPath()
    ctx.arc(beC.x, beC.y, 4, 0, Math.PI * 2)
    ctx.fillStyle = '#ff9944'
    ctx.fill()
    ctx.font = "8px 'Courier New', monospace"
    ctx.fillStyle = 'rgba(255,74,74,0.5)'
    ctx.textAlign = 'center'
    ctx.fillText('S', bsC.x, bsC.y + 14)
    ctx.fillStyle = 'rgba(255,153,68,0.5)'
    ctx.fillText('E', beC.x, beC.y + 14)

    var cr = 8
    ctx.beginPath()
    ctx.arc(camCX, camCY, cr, 0, Math.PI * 2)
    ctx.fillStyle = '#4a9eff'
    ctx.fill()
    ctx.strokeStyle = 'rgba(74,158,255,0.5)'
    ctx.lineWidth = 1.5
    ctx.stroke()
    var corners = [
      [-14, -14],
      [14, -14],
      [14, 14],
      [-14, 14],
    ]
    for (var ci = 0; ci < corners.length; ci++) {
      var dx = corners[ci][0],
        dy = corners[ci][1]
      ctx.beginPath()
      ctx.moveTo(camCX + dx * 0.4, camCY + dy * 0.4)
      ctx.lineTo(camCX + dx, camCY + dy)
      ctx.strokeStyle = 'rgba(74,158,255,0.5)'
      ctx.lineWidth = 1
      ctx.stroke()
    }

    drawDirIndicator(camDir)

    var dist = Math.sqrt(bx * bx + by * by)
    var h360 = ((camHeading % 360) + 360) % 360
    var st = scanTime(p)

    function setText(id, text) {
      var el = $(id)
      if (el) el.textContent = text
    }

    setText('st-scan', st.toFixed(1) + 's')
    setText('st-angle', h360.toFixed(1) + '°')
    setText('st-dist', (dist * 1000).toFixed(0) + 'm')
    setText('hdr-scan', st.toFixed(1) + 's')
    setText('hdr-angle', h360.toFixed(1) + '°')

    var travelEl = $('st-travel')
    var blindEl = $('st-blind')
    var travelPrevEl = $('st-travel-prev')
    var blindPrevEl = $('st-blind-prev')
    var riskEl = $('st-risk')
    var riskBarEl = $('st-risk-bar')
    if (travelEl) {
      travelEl.textContent = (inFov ? detectedStreak : lastDetectedStreak).toFixed(1) + 'm'
      travelEl.style.opacity = inFov ? '1' : '0.5'
    }
    if (blindEl) {
      blindEl.textContent = (!inFov ? blindStreak : lastBlindStreak).toFixed(1) + 'm'
      blindEl.style.opacity = !inFov ? '1' : '0.5'
    }
    if (travelPrevEl)
      travelPrevEl.textContent =
        prevDetectedStreak > 0 ? 'prev: ' + prevDetectedStreak.toFixed(1) + 'm' : 'prev: —'
    if (blindPrevEl)
      blindPrevEl.textContent =
        prevBlindStreak > 0 ? 'prev: ' + prevBlindStreak.toFixed(1) + 'm' : 'prev: —'
    var total = prevDetectedStreak + prevBlindStreak
    if (riskEl && riskBarEl) {
      if (total > 0) {
        var risk = (prevBlindStreak / total) * 100
        riskEl.textContent = risk.toFixed(0) + '%'
        riskEl.style.color = risk > 66 ? '#ff4a4a' : risk > 33 ? '#ffcc44' : '#00e5a0'
        riskBarEl.style.width = risk + '%'
        riskBarEl.style.background = risk > 66 ? '#ff4a4a' : risk > 33 ? '#ffcc44' : '#00e5a0'
      } else {
        riskEl.textContent = '—'
        riskBarEl.style.width = '0%'
      }
    }
    var visEl = $('st-vis')
    if (visEl) {
      visEl.textContent = inFov ? 'YES' : 'NO'
      visEl.className = 'val ' + (inFov ? 'active' : 'inactive')
    }
  }

  function animate(ts) {
    if (!running || !ctx) return
    if (lastTime === null) lastTime = ts
    var dt = Math.min((ts - lastTime) / 1000, 0.1)
    lastTime = ts

    var p = getParams()

    var boatKmS = p.boatSpeed * 0.000514
    var pathLen = Math.hypot(boatEnd.x - boatStart.x, boatEnd.y - boatStart.y)
    if (pathLen > 0.001) {
      var dtT = (boatKmS * dt) / pathLen
      boatT += boatDir * dtT
      if (boatT >= 1) {
        boatT = 1
        boatDir = -1
      }
      if (boatT <= 0) {
        boatT = 0
        boatDir = 1
      }
    }

    var front = isFront(camHeading, p.frontArc)
    var speed = front ? p.frontSpeed : p.backSpeed
    camHeading += camDir * speed * dt
    if (camHeading >= 180) camHeading -= 360
    if (camHeading < -180) camHeading += 360

    var bx = boatStart.x + (boatEnd.x - boatStart.x) * boatT
    var by = boatStart.y + (boatEnd.y - boatStart.y) * boatT
    var visible = isBoatVisible(bx, by, camHeading, p.fov)

    var distThisFrame = p.boatSpeed * 0.514 * dt
    if (prevVisible !== null && visible !== prevVisible) {
      if (visible) {
        prevBlindStreak = blindStreak
        lastBlindStreak = blindStreak
        blindStreak = 0
      } else {
        prevDetectedStreak = detectedStreak
        lastDetectedStreak = detectedStreak
        detectedStreak = 0
      }
    }
    if (visible) detectedStreak += distThisFrame
    else blindStreak += distThisFrame
    prevVisible = visible

    draw(p, bx, by, visible)
    if (running) rafId = requestAnimationFrame(animate)
  }

  function getCanvasXY(e) {
    if (!canvas) return { x: 0, y: 0 }
    var rect = canvas.getBoundingClientRect()
    var sx = W / rect.width
    var sy = H / rect.height
    var src = 'touches' in e && e.touches.length ? e.touches[0] : e
    return { x: (src.clientX - rect.left) * sx, y: (src.clientY - rect.top) * sy }
  }

  function onResize() {
    resize()
  }

  function onMouseDown(e) {
    if (!canvas) return
    var pt = getCanvasXY(e)
    var bsC = worldToCanvas(boatStart.x, boatStart.y)
    var beC = worldToCanvas(boatEnd.x, boatEnd.y)
    if (Math.hypot(pt.x - bsC.x, pt.y - bsC.y) < 14) dragging = 'start'
    else if (Math.hypot(pt.x - beC.x, pt.y - beC.y) < 14) dragging = 'end'
  }

  function onMouseMove(e) {
    if (!dragging) return
    var pt = getCanvasXY(e)
    var w = canvasToWorld(pt.x, pt.y)
    w.y = Math.max(0.05, Math.min(1.3, w.y))
    w.x = Math.max(-1.4, Math.min(1.4, w.x))
    if (dragging === 'start') boatStart = w
    else boatEnd = w
  }

  function onMouseUp() {
    dragging = null
  }

  function onTouchStart(e) {
    if (e.touches.length === 2) {
      lastPinchDist = Math.hypot(
        e.touches[0].clientX - e.touches[1].clientX,
        e.touches[0].clientY - e.touches[1].clientY,
      )
      dragging = null
      return
    }
    if (e.touches.length !== 1) return
    e.preventDefault()
    var pt = getCanvasXY(e)
    var bsC = worldToCanvas(boatStart.x, boatStart.y)
    var beC = worldToCanvas(boatEnd.x, boatEnd.y)
    if (Math.hypot(pt.x - bsC.x, pt.y - bsC.y) < 18) dragging = 'start'
    else if (Math.hypot(pt.x - beC.x, pt.y - beC.y) < 18) dragging = 'end'
  }

  function onTouchMove(e) {
    if (e.touches.length === 2 && lastPinchDist !== null) {
      e.preventDefault()
      var dist = Math.hypot(
        e.touches[0].clientX - e.touches[1].clientX,
        e.touches[0].clientY - e.touches[1].clientY,
      )
      var delta = dist - lastPinchDist
      applyZoom(delta)
      lastPinchDist = dist
      return
    }
    if (!dragging) return
    e.preventDefault()
    var pt = getCanvasXY(e)
    var w = canvasToWorld(pt.x, pt.y)
    w.y = Math.max(0.05, Math.min(1.3, w.y))
    w.x = Math.max(-1.4, Math.min(1.4, w.x))
    if (dragging === 'start') boatStart = w
    else boatEnd = w
  }

  function onTouchEnd(e) {
    dragging = null
    if (e.touches.length < 2) lastPinchDist = null
  }

  function onWheel(e) {
    e.preventDefault()
    applyZoom(-e.deltaY)
  }

  function bindRange(id, valSpanId) {
    var input = $(id)
    var span = valSpanId ? $(valSpanId) : null
    function sync() {
      if (span) span.textContent = input.value
    }
    input.addEventListener('input', function () {
      sync()
      resetStreaks()
    })
    sync()
  }

  function init() {
    canvas = $('c')
    wrap = $('canvas-wrap')
    if (!canvas || !wrap) return
    ctx = canvas.getContext('2d')
    if (!ctx) return

    running = true
    resize()
    updateZoomLabel()
    setDir(-1)
    window.addEventListener('resize', onResize)

    canvas.addEventListener('mousedown', onMouseDown)
    canvas.addEventListener('mousemove', onMouseMove)
    canvas.addEventListener('mouseup', onMouseUp)
    canvas.addEventListener('touchstart', onTouchStart, { passive: false })
    canvas.addEventListener('touchmove', onTouchMove, { passive: false })
    canvas.addEventListener('touchend', onTouchEnd)
    canvas.addEventListener('touchcancel', onTouchEnd)
    canvas.addEventListener('wheel', onWheel, { passive: false })

    $('zoom-out').addEventListener('click', function () {
      applyZoom(-1)
    })
    $('zoom-in').addEventListener('click', function () {
      applyZoom(1)
    })
    $('dir-cw').addEventListener('click', function () {
      setDir(1)
    })
    $('dir-ccw').addEventListener('click', function () {
      setDir(-1)
    })

    bindRange('input-fov', 'val-fov')
    bindRange('input-front-speed', 'val-front-speed')
    bindRange('input-back-speed', 'val-back-speed')
    bindRange('input-front-arc', 'val-front-arc')
    bindRange('input-boat-speed', 'val-boat-speed')

    rafId = requestAnimationFrame(animate)
  }

  if (document.readyState === 'loading') document.addEventListener('DOMContentLoaded', init)
  else init()
})()