using System.Collections.Generic;
using Mujoco;
using UnityEngine;

namespace Fluctio.FluctioSim.Core.Components.MachineLearning.Sensors
{
    public abstract class MlMjSensor<TMujocoSensor> : Sensor
        where TMujocoSensor : MjBaseSensor
    {
        [SerializeField, HideInInspector] protected GameObject sensorObject;
        [SerializeField, HideInInspector] protected ProxyMlSensorComponent mlagentsSensor;
        [SerializeField, HideInInspector] protected TMujocoSensor mujocoSensor;

        protected override void InitializeOnce()
        {
            sensorObject = new GameObject("Sensor");
            sensorObject.transform.SetParent(transform);
            mujocoSensor = sensorObject.AddComponent<TMujocoSensor>();
            mlagentsSensor = sensorObject.AddComponent<ProxyMlSensorComponent>();
            mlagentsSensor.originalSensor = this;
        }

        protected override IEnumerable<GameObject> GetInternalObjects() => new[] {sensorObject};
        protected override IEnumerable<Object> GetCreatedInternals() => new[] {sensorObject};
    }
}