/* dashboard.js — Saltybot Main Dashboard (Issue #630) */
'use strict';

// ── Auto-detect candidates ─────────────────────────────────────────────────
// Try current page's hostname first (if served from robot), then localhost
const AUTO_CANDIDATES = (() => {
  const candidates = [];
  if (location.hostname && location.hostname !== '' && location.hostname !== 'localhost') {
    candidates.push(`ws://${location.hostname}:9090`);
  }
  candidates.push('ws://localhost:9090');
  candidates.push('ws://saltybot.local:9090');
  return candidates;
})();

// ── Panel definitions (status tracking) ───────────────────────────────────
const PANELS = [
  { id: 'map',      watchTopic: '/saltybot/pose/fused',           msgType: 'geometry_msgs/PoseStamped' },
  { id: 'gamepad',  watchTopic: null,                              msgType: null },  // output only
  { id: 'diag',     watchTopic: '/diagnostics',                    msgType: 'diagnostic_msgs/DiagnosticArray' },
  { id: 'events',   watchTopic: '/rosout',                         msgType: 'rcl_interfaces/msg/Log' },
  { id: 'settings', watchTopic: null,                              msgType: null },  // service-based
  { id: 'gimbal',   watchTopic: '/gimbal/state',                   msgType: 'geometry_msgs/Vector3' },
  { id: 'can',      watchTopic: '/vesc/left/state',               msgType: 'std_msgs/String' },
  { id: 'gps',      watchTopic: 'saltybot/gps/fix',              msgType: 'std_msgs/String' },
];

// ── State ──────────────────────────────────────────────────────────────────
const state = {
  connected:   false,
  estop:       false,
  driveMode:   'MANUAL',
  battery:     null,   // 0..100 %
  voltage:     null,
  safetyState: null,   // 'CLEAR' | 'WARN' | 'DANGER' | 'ESTOP'
  closestM:    null,
  uptime:      0,      // seconds since ROS connection
  sessionStart: null,  // Date for session timer
  msgCount:    0,
  lastMsgTs:   0,
  msgRate:     0,
  latency:     null,
  // Per-panel last-message timestamps
  panelTs: {},
};

// ── ROS ────────────────────────────────────────────────────────────────────
let ros = null;
let cmdVelTopic = null;
let modeTopic = null;
let uptimeInterval = null;
let panelWatches = {};   // id → ROSLIB.Topic
let pingTs = 0;
let pingTimeout = null;

function connect(url) {
  if (ros) {
    Object.values(panelWatches).forEach(t => { try { t.unsubscribe(); } catch(_){} });
    panelWatches = {};
    try { ros.close(); } catch(_){}
  }

  ros = new ROSLIB.Ros({ url });

  ros.on('connection', () => {
    state.connected = true;
    state.sessionStart = state.sessionStart || new Date();
    localStorage.setItem('dashboard_ws_url', url);
    $connDot.className = 'connected';
    $connLabel.style.color = '#22c55e';
    $connLabel.textContent = 'Connected';
    $wsInput.value = url;
    document.getElementById('info-ws').textContent = url;

    setupTopics();
    schedulePing();
    updateDetectBar('connected', `Connected to ${url}`);
  });

  ros.on('error', () => {
    state.connected = false;
    $connDot.className = 'error';
    $connLabel.style.color = '#ef4444';
    $connLabel.textContent = 'Error';
    updateDetectBar('error', `Error connecting to ${url}`);
  });

  ros.on('close', () => {
    state.connected = false;
    $connDot.className = '';
    $connLabel.style.color = '#6b7280';
    $connLabel.textContent = 'Disconnected';
  });
}

function setupTopics() {
  // ── Battery & temps from /diagnostics ──
  const diagTopic = new ROSLIB.Topic({
    ros, name: '/diagnostics',
    messageType: 'diagnostic_msgs/DiagnosticArray',
    throttle_rate: 2000,
  });
  diagTopic.subscribe(msg => {
    state.msgCount++;
    state.lastMsgTs = performance.now();
    (msg.status || []).forEach(s => {
      (s.values || []).forEach(kv => {
        if (kv.key === 'battery_voltage_v') {
          state.voltage = parseFloat(kv.value);
          // 4S LiPo: 12.0V empty, 16.8V full
          state.battery = Math.max(0, Math.min(100,
            ((state.voltage - 12.0) / (16.8 - 12.0)) * 100));
        }
        if (kv.key === 'battery_soc_pct') {
          state.battery = parseFloat(kv.value);
        }
      });
    });
    markPanelLive('diag');
    renderBattery();
  });

  // ── Safety zone ──
  const safetyTopic = new ROSLIB.Topic({
    ros, name: '/saltybot/safety_zone/status',
    messageType: 'std_msgs/String',
    throttle_rate: 500,
  });
  safetyTopic.subscribe(msg => {
    state.msgCount++;
    try {
      const d = JSON.parse(msg.data);
      state.safetyState = d.state || d.fwd_zone || 'CLEAR';
      state.closestM    = d.closest_m != null ? d.closest_m : null;
      if (d.estop !== undefined) {
        // only auto-latch E-stop if ROS says it's active and we aren't tracking it locally
        if (d.estop && !state.estop) activateEstop(false);
      }
    } catch(_) {
      state.safetyState = msg.data;
    }
    renderSafety();
  });

  // ── Balance state / drive mode ──
  const modeSub = new ROSLIB.Topic({
    ros, name: '/saltybot/balance_state',
    messageType: 'std_msgs/String',
    throttle_rate: 1000,
  });
  modeSub.subscribe(msg => {
    try {
      const d = JSON.parse(msg.data);
      if (d.mode) {
        state.driveMode = d.mode.toUpperCase();
        renderMode();
      }
    } catch(_) {}
  });

  // ── Pose (for map card liveness) ──
  const poseTopic = new ROSLIB.Topic({
    ros, name: '/saltybot/pose/fused',
    messageType: 'geometry_msgs/PoseStamped',
    throttle_rate: 1000,
  });
  poseTopic.subscribe(() => { markPanelLive('map'); });

  // ── /rosout (for events card) ──
  const rosoutTopic = new ROSLIB.Topic({
    ros, name: '/rosout',
    messageType: 'rcl_interfaces/msg/Log',
    throttle_rate: 2000,
  });
  rosoutTopic.subscribe(() => { markPanelLive('events'); });

  // ── Gimbal state ──
  const gimbalTopic = new ROSLIB.Topic({
    ros, name: '/gimbal/state',
    messageType: 'geometry_msgs/Vector3',
    throttle_rate: 1000,
  });
  gimbalTopic.subscribe(() => { markPanelLive('gimbal'); });

  // ── VESC left state (for CAN monitor card liveness) ──
  const vescWatch = new ROSLIB.Topic({
    ros, name: '/vesc/left/state',
    messageType: 'std_msgs/String', throttle_rate: 1000,
  });
  vescWatch.subscribe(() => { markPanelLive('can'); });

  // ── GPS fix (for GPS map card liveness) ──
  const gpsWatch = new ROSLIB.Topic({
    ros, name: 'saltybot/gps/fix',
    messageType: 'std_msgs/String', throttle_rate: 2000,
  });
  gpsWatch.subscribe(() => { markPanelLive('gps'); });

  // ── cmd_vel monitor (for gamepad card liveness) ──
  const cmdVelWatch = new ROSLIB.Topic({
    ros, name: '/cmd_vel',
    messageType: 'geometry_msgs/Twist',
    throttle_rate: 500,
  });
  cmdVelWatch.subscribe(() => { markPanelLive('gamepad'); });

  // ── Publisher topics ──
  cmdVelTopic = new ROSLIB.Topic({
    ros, name: '/cmd_vel',
    messageType: 'geometry_msgs/Twist',
  });

  modeTopic = new ROSLIB.Topic({
    ros, name: '/saltybot/drive_mode',
    messageType: 'std_msgs/String',
  });

  // ── Robot uptime from /diagnostics or fallback to /rosapi ──
  const upSvc = new ROSLIB.Service({
    ros, name: '/rosapi/get_time',
    serviceType: 'rosapi/GetTime',
  });
  upSvc.callService({}, () => {
    state.uptime = 0;
    if (uptimeInterval) clearInterval(uptimeInterval);
    uptimeInterval = setInterval(() => { state.uptime++; renderUptime(); }, 1000);
  });
}

// ── E-stop ─────────────────────────────────────────────────────────────────
function activateEstop(sendCmd = true) {
  state.estop = true;
  if (sendCmd && cmdVelTopic) {
    cmdVelTopic.publish(new ROSLIB.Message({
      linear: { x: 0, y: 0, z: 0 }, angular: { x: 0, y: 0, z: 0 },
    }));
  }
  document.getElementById('btn-estop').style.display  = 'none';
  document.getElementById('btn-resume').style.display = '';
  document.getElementById('btn-estop').classList.add('active');
  document.getElementById('val-estop').textContent  = 'ACTIVE';
  document.getElementById('val-estop').style.color  = '#ef4444';
  // Flash all cards
  document.querySelectorAll('.panel-card').forEach(c => c.classList.add('estop-flash'));
}

function resumeFromEstop() {
  state.estop = false;
  document.getElementById('btn-estop').style.display  = '';
  document.getElementById('btn-resume').style.display = 'none';
  document.getElementById('btn-estop').classList.remove('active');
  document.getElementById('val-estop').textContent = 'OFF';
  document.getElementById('val-estop').style.color = '#6b7280';
  document.querySelectorAll('.panel-card').forEach(c => c.classList.remove('estop-flash'));
}

document.getElementById('btn-estop').addEventListener('click',  () => activateEstop(true));
document.getElementById('btn-resume').addEventListener('click', resumeFromEstop);

// Space bar = emergency E-stop from dashboard
document.addEventListener('keydown', e => {
  if (e.code === 'Space' && e.target.tagName !== 'INPUT') {
    e.preventDefault();
    if (state.estop) resumeFromEstop(); else activateEstop(true);
  }
});

// ── Drive mode buttons ─────────────────────────────────────────────────────
document.querySelectorAll('.mode-btn').forEach(btn => {
  btn.addEventListener('click', () => {
    state.driveMode = btn.dataset.mode;
    if (modeTopic) {
      modeTopic.publish(new ROSLIB.Message({ data: state.driveMode }));
    }
    renderMode();
  });
});

// ── Panel liveness tracking ────────────────────────────────────────────────
const LIVE_TIMEOUT_MS = 5000;

function markPanelLive(id) {
  state.panelTs[id] = Date.now();
  renderPanelCard(id);
}

function renderPanelCard(id) {
  const ts = state.panelTs[id];
  const dot = document.getElementById(`dot-${id}`);
  const statusEl = document.getElementById(`status-${id}`);
  const msgEl    = document.getElementById(`msg-${id}`);
  if (!dot || !statusEl) return;

  if (!state.connected) {
    dot.className = 'card-dot';
    statusEl.className = 'card-status';
    statusEl.textContent = 'OFFLINE';
    if (msgEl) msgEl.textContent = 'Not connected';
    return;
  }

  // Settings card is always config
  if (id === 'settings') return;
  // Gamepad is output only — show "READY" when connected
  if (id === 'gamepad') {
    const age = ts ? Date.now() - ts : Infinity;
    if (age < LIVE_TIMEOUT_MS) {
      dot.className = 'card-dot live';
      statusEl.className = 'card-status live';
      statusEl.textContent = 'ACTIVE';
      if (msgEl) msgEl.textContent = 'Receiving /cmd_vel';
    } else {
      dot.className = 'card-dot';
      statusEl.className = 'card-status';
      statusEl.textContent = 'READY';
      if (msgEl) msgEl.textContent = 'Awaiting input';
    }
    return;
  }

  if (!ts) {
    dot.className = 'card-dot idle';
    statusEl.className = 'card-status idle';
    statusEl.textContent = 'IDLE';
    if (msgEl) msgEl.textContent = 'No messages yet';
    return;
  }

  const age = Date.now() - ts;
  if (age < LIVE_TIMEOUT_MS) {
    dot.className = 'card-dot live';
    statusEl.className = 'card-status live';
    statusEl.textContent = 'LIVE';
    if (msgEl) msgEl.textContent = `${(age / 1000).toFixed(1)}s ago`;
  } else {
    dot.className = 'card-dot idle';
    statusEl.className = 'card-status idle';
    statusEl.textContent = 'IDLE';
    if (msgEl) msgEl.textContent = `${Math.floor(age / 1000)}s ago`;
  }
}

// ── Render helpers ─────────────────────────────────────────────────────────
function renderBattery() {
  const el   = document.getElementById('val-battery');
  const fill = document.getElementById('batt-fill');
  if (state.battery === null) { el.textContent = '—'; return; }
  const pct = state.battery.toFixed(0);
  el.textContent = `${pct}%${state.voltage ? ' · ' + state.voltage.toFixed(1) + 'V' : ''}`;
  fill.style.width = pct + '%';
  fill.style.background = pct > 50 ? '#22c55e' : pct > 20 ? '#f59e0b' : '#ef4444';
  el.style.color = pct > 50 ? '#d1d5db' : pct > 20 ? '#f59e0b' : '#ef4444';
}

function renderSafety() {
  const el = document.getElementById('val-safety');
  if (!state.safetyState) { el.textContent = '—'; return; }
  const s = state.safetyState.toUpperCase();
  el.textContent = s + (state.closestM != null ? ` · ${state.closestM.toFixed(2)}m` : '');
  el.style.color = s === 'DANGER' || s === 'ESTOP' ? '#ef4444' :
                   s === 'WARN'                    ? '#f59e0b' : '#22c55e';
}

function renderMode() {
  document.getElementById('val-mode').textContent = state.driveMode;
  document.querySelectorAll('.mode-btn').forEach(b => {
    b.classList.toggle('active', b.dataset.mode === state.driveMode);
  });
}

function renderUptime() {
  const el = document.getElementById('val-uptime');
  if (!state.connected) { el.textContent = '—'; return; }
  const s = state.uptime;
  el.textContent = s < 60 ? `${s}s` : s < 3600 ? `${Math.floor(s/60)}m ${s%60}s` : `${Math.floor(s/3600)}h ${Math.floor((s%3600)/60)}m`;
}

function renderSession() {
  if (!state.sessionStart) return;
  const secs = Math.floor((Date.now() - state.sessionStart) / 1000);
  const h = String(Math.floor(secs / 3600)).padStart(2, '0');
  const m = String(Math.floor((secs % 3600) / 60)).padStart(2, '0');
  const s = String(secs % 60).padStart(2, '0');
  document.getElementById('session-time').textContent = `${h}:${m}:${s}`;
}

function renderMsgRate() {
  const now = performance.now();
  if (state.lastMsgTs) {
    const dt = (now - state.lastMsgTs) / 1000;
    document.getElementById('info-rate').textContent =
      dt < 10 ? Math.round(1 / dt) + ' msg/s' : '—';
  }
}

// ── Latency ping ───────────────────────────────────────────────────────────
function schedulePing() {
  if (pingTimeout) clearTimeout(pingTimeout);
  pingTimeout = setTimeout(() => {
    if (!ros || !state.connected) return;
    const svc = new ROSLIB.Service({ ros, name: '/rosapi/get_time', serviceType: 'rosapi/GetTime' });
    pingTs = performance.now();
    svc.callService({}, () => {
      state.latency = Math.round(performance.now() - pingTs);
      document.getElementById('info-latency').textContent = state.latency + ' ms';
      document.getElementById('info-ip').textContent = $wsInput.value.replace('ws://','').split(':')[0];
      schedulePing();
    }, () => { schedulePing(); });
  }, 5000);
}

// ── Auto-detect ────────────────────────────────────────────────────────────
const $detectStatus = document.getElementById('detect-status');
const $detectDots   = document.getElementById('detect-dots');
const $detectBar    = document.getElementById('detect-bar');

function updateDetectBar(cls, msg) {
  $detectBar.className = cls;
  $detectStatus.textContent = msg;
}

function buildDetectDots() {
  $detectDots.innerHTML = AUTO_CANDIDATES.map((_, i) =>
    `<div class="detect-dot" id="ddot-${i}"></div>`
  ).join('');
}

function tryAutoDetect(idx) {
  if (idx >= AUTO_CANDIDATES.length) {
    updateDetectBar('error', '✗ Auto-detect failed — enter URL manually');
    return;
  }
  const url = AUTO_CANDIDATES[idx];
  const dot = document.getElementById(`ddot-${idx}`);
  if (dot) dot.className = 'detect-dot trying';
  updateDetectBar('', `🔍 Trying ${url}…`);

  const testRos = new ROSLIB.Ros({ url });
  const timer = setTimeout(() => {
    testRos.close();
    if (dot) dot.className = 'detect-dot fail';
    tryAutoDetect(idx + 1);
  }, 2000);

  testRos.on('connection', () => {
    clearTimeout(timer);
    if (dot) dot.className = 'detect-dot ok';
    // Mark remaining as skipped
    for (let j = idx + 1; j < AUTO_CANDIDATES.length; j++) {
      const d = document.getElementById(`ddot-${j}`);
      if (d) d.className = 'detect-dot';
    }
    testRos.close();
    // Connect for real
    connect(url);
  });

  testRos.on('error', () => {
    clearTimeout(timer);
    if (dot) dot.className = 'detect-dot fail';
    tryAutoDetect(idx + 1);
  });
}

// ── Connection bar ─────────────────────────────────────────────────────────
const $connDot   = document.getElementById('conn-dot');
const $connLabel = document.getElementById('conn-label');
const $wsInput   = document.getElementById('ws-input');

document.getElementById('btn-connect').addEventListener('click', () => {
  connect($wsInput.value.trim() || 'ws://localhost:9090');
});

// ── Liveness refresh loop ──────────────────────────────────────────────────
setInterval(() => {
  PANELS.forEach(p => renderPanelCard(p.id));
  renderMsgRate();
  renderSession();
}, 1000);

// ── Session timer ──────────────────────────────────────────────────────────
state.sessionStart = new Date();
setInterval(renderSession, 1000);

// ── Init ───────────────────────────────────────────────────────────────────
buildDetectDots();

// Restore saved URL or auto-detect
const savedUrl = localStorage.getItem('dashboard_ws_url');
if (savedUrl) {
  $wsInput.value = savedUrl;
  updateDetectBar('', `⟳ Reconnecting to ${savedUrl}…`);
  connect(savedUrl);
} else {
  tryAutoDetect(0);
}