saltylab-ios/SulTee/SulTee/ContentView.swift

import SwiftUI

// MARK: - Root (tab container)

struct ContentView: View {
    @EnvironmentObject var sensor: SensorManager

    var body: some View {
        TabView {
            StatusView()
                .tabItem { Label("Status", systemImage: "antenna.radiowaves.left.and.right") }
            MapContentView()
                .tabItem { Label("Map", systemImage: "map.fill") }
            BLEStatusView()
                .tabItem { Label("BLE Tag", systemImage: "dot.radiowaves.right") }
            RoutesView()
                .tabItem { Label("Routes", systemImage: "point.bottomleft.forward.to.point.topright.scurvepath") }
            PilotView()
                .tabItem { Label("Pilot", systemImage: "camera.fill") }
        }
    }
}

// MARK: - Status tab

private struct StatusView: View {
    @EnvironmentObject var sensor: SensorManager
    @AppStorage("orinURL") private var orinURL: String = SensorManager.defaultOrinURL
    @State private var editingURL: String = ""
    @FocusState private var urlFieldFocused: Bool

    var body: some View {
        NavigationStack {
            VStack(spacing: 24) {
                connectionBanner
                orinURLField
                Divider()
                sensorRatesGrid
                Divider()
                if let dist = sensor.distanceToRobot {
                    distanceRow(dist)
                }
                Spacer()
                followMeButton
            }
            .padding()
            .navigationTitle("SAUL-T-MOTE")
            .onAppear { editingURL = orinURL }
        }
    }

    // MARK: Connection banner

    private var connectionBanner: some View {
        HStack(spacing: 12) {
            Circle()
                .fill(wsColor)
                .frame(width: 14, height: 14)
            Text(wsLabel)
                .font(.headline)
            Spacer()
        }
        .padding(.top, 8)
    }

    // MARK: Orin URL field

    private var orinURLField: some View {
        VStack(alignment: .leading, spacing: 4) {
            Text("Orin WebSocket URL")
                .font(.caption)
                .foregroundStyle(.secondary)
            HStack {
                TextField("ws://host:port", text: $editingURL)
                    .textFieldStyle(.roundedBorder)
                    .keyboardType(.URL)
                    .autocorrectionDisabled()
                    .textInputAutocapitalization(.never)
                    .focused($urlFieldFocused)
                    .disabled(sensor.isStreaming)
                    .onSubmit { applyURL() }
                if !sensor.isStreaming {
                    Button("Apply") { applyURL() }
                        .buttonStyle(.borderedProminent)
                        .controlSize(.small)
                }
            }
        }
    }

    private func applyURL() {
        urlFieldFocused = false
        orinURL = editingURL
        sensor.updateURL(editingURL)
    }

    // MARK: Sensor rates grid

    private var sensorRatesGrid: some View {
        Grid(horizontalSpacing: 20, verticalSpacing: 12) {
            GridRow {
                rateCell(icon: "location.fill",       label: "GPS",     rate: sensor.gpsRate)
                rateCell(icon: "gyroscope",            label: "IMU",     rate: sensor.imuRate)
            }
            GridRow {
                rateCell(icon: "location.north.fill",  label: "Heading", rate: sensor.headingRate)
                rateCell(icon: "barometer",             label: "Baro",    rate: sensor.baroRate)
            }
        }
    }

    private func rateCell(icon: String, label: String, rate: Double) -> some View {
        VStack(spacing: 4) {
            Image(systemName: icon)
                .font(.title2)
                .foregroundStyle(rate > 0 ? .green : .secondary)
            Text(label)
                .font(.caption)
                .foregroundStyle(.secondary)
            Text("\(Int(rate)) Hz")
                .font(.title3.monospacedDigit())
                .bold()
        }
        .frame(maxWidth: .infinity)
        .padding()
        .background(.quaternary, in: RoundedRectangle(cornerRadius: 12))
    }

    // MARK: Distance row

    private func distanceRow(_ dist: Double) -> some View {
        HStack(spacing: 10) {
            Image(systemName: distanceIcon)
                .foregroundStyle(distanceColor)
            VStack(alignment: .leading, spacing: 2) {
                Text(distanceLabel(dist))
                    .font(.title2).bold()
                Text(distanceSourceLabel)
                    .font(.caption).foregroundStyle(distanceColor)
            }
        }
    }

    private func distanceLabel(_ dist: Double) -> String {
        switch sensor.distanceSource {
        case .blueUWB, .mqttUWB:
            return dist < 10
                ? String(format: "%.2f m", dist)
                : String(format: "%.1f m", dist)
        case .gps:
            return dist < 1000
                ? "~\(Int(dist)) m"
                : String(format: "~%.1f km", dist / 1000)
        }
    }

    private var distanceSourceLabel: String {
        switch sensor.distanceSource {
        case .blueUWB:  return "UWB (BLE tag)"
        case .mqttUWB:  return "UWB (Orin anchors)"
        case .gps:      return "GPS estimate"
        }
    }

    private var distanceIcon: String {
        switch sensor.distanceSource {
        case .blueUWB, .mqttUWB: return "dot.radiowaves.left.and.right"
        case .gps:                return "location.fill"
        }
    }

    private var distanceColor: Color {
        switch sensor.distanceSource {
        case .blueUWB:  return .green
        case .mqttUWB:  return .mint
        case .gps:      return .orange
        }
    }

    // MARK: Follow-Me button

    private var followMeButton: some View {
        Button {
            sensor.isStreaming ? sensor.stopStreaming() : sensor.startStreaming()
        } label: {
            Label(
                sensor.isStreaming ? "Stop Follow-Me" : "Start Follow-Me",
                systemImage: sensor.isStreaming ? "stop.circle.fill" : "play.circle.fill"
            )
            .font(.title2.bold())
            .frame(maxWidth: .infinity)
            .padding()
            .background(sensor.isStreaming ? Color.red : Color.accentColor,
                        in: RoundedRectangle(cornerRadius: 16))
            .foregroundStyle(.white)
        }
        .buttonStyle(.plain)
        .padding(.bottom, 8)
    }

    // MARK: Helpers

    private var wsColor: Color {
        switch sensor.wsState {
        case .connected:    return .green
        case .connecting:   return .yellow
        case .disconnected: return .red
        }
    }

    private var wsLabel: String {
        switch sensor.wsState {
        case .connected:    return "Connected — \(orinURL)"
        case .connecting:   return "Connecting…"
        case .disconnected: return "Disconnected"
        }
    }
}

#Preview {
    ContentView()
        .environmentObject(SensorManager())
}