// Tab "Braccio DX" — auto-refresh immagini, YOLO on-demand, move-toward,
// posa Home/Custom. Vanilla JS, niente dipendenze.

const $ = (id) => document.getElementById(id);
const FRONT_REFRESH_MS = 1000;
const WRIST_REFRESH_MS = 1000;
const POSE_REFRESH_MS = 2000;

let frontTimer = null;
let wristTimer = null;
let poseTimer = null;

// ---------------- Helpers ----------------

async function jsonFetch(url, opts) {
  const r = await fetch(url, opts);
  const body = await r.json().catch(() => ({}));
  if (!r.ok) {
    const err = new Error(body.detail || `HTTP ${r.status}`);
    err.status = r.status;
    throw err;
  }
  return body;
}

function setText(id, v) { const el = $(id); if (el) el.textContent = v; }

function drawBbox(canvas, img, bbox, label) {
  if (!canvas || !img || !bbox) return;
  canvas.width = img.naturalWidth || img.width;
  canvas.height = img.naturalHeight || img.height;
  const ctx = canvas.getContext('2d');
  ctx.clearRect(0, 0, canvas.width, canvas.height);
  const x = bbox.x1, y = bbox.y1, w = bbox.x2 - bbox.x1, h = bbox.y2 - bbox.y1;
  ctx.strokeStyle = '#00ff00';
  ctx.lineWidth = 3;
  ctx.strokeRect(x, y, w, h);
  if (label) {
    ctx.fillStyle = '#00ff00';
    ctx.font = '14px monospace';
    ctx.fillText(label, x, y - 4);
  }
}

function clearCanvas(canvas) {
  if (!canvas) return;
  const ctx = canvas.getContext('2d');
  ctx.clearRect(0, 0, canvas.width, canvas.height);
}

// ---------------- Banner stato ----------------

async function refreshBanner() {
  let state;
  try {
    state = await jsonFetch('/api/right_arm/state');
  } catch (e) {
    $('raStatusLabel').textContent = `Errore stato: ${e.message}`;
    $('raStatusBanner').hidden = false;
    $('raStatusBanner').className = 'ra-banner ra-banner-warn';
    return;
  }
  const ok = state.robot_active === 'g1' && state.side === 'right';
  const banner = $('raStatusBanner');
  if (ok) {
    banner.hidden = true;
  } else {
    banner.hidden = false;
    banner.className = 'ra-banner ra-banner-warn';
    $('raStatusLabel').textContent = `Robot attivo: ${state.robot_active} / ${state.side}. Per usare questa tab serve G1 / right.`;
  }
  return state;
}

async function onActivateClick() {
  try {
    await jsonFetch('/api/right_arm/activate', { method: 'POST' });
    await refreshBanner();
    await refreshPose();
  } catch (e) {
    alert(`Attivazione fallita: ${e.message}`);
  }
}

// ---------------- Immagini ----------------

function urlWithBust(path) { return `${path}?t=${Date.now()}`; }

function startFrontLoop() {
  if (frontTimer) clearInterval(frontTimer);
  const tick = () => { $('raFrontImg').src = urlWithBust('/api/right_arm/snapshot/front'); };
  tick();
  if ($('raFrontAutoRefresh').checked) {
    frontTimer = setInterval(tick, FRONT_REFRESH_MS);
  }
}
function startWristLoop() {
  if (wristTimer) clearInterval(wristTimer);
  const tick = () => { $('raWristImg').src = urlWithBust('/api/right_arm/snapshot/wrist'); };
  tick();
  if ($('raWristAutoRefresh').checked) {
    wristTimer = setInterval(tick, WRIST_REFRESH_MS);
  }
}

// ---------------- YOLO classes ----------------

async function populateClassDropdowns() {
  let classes = [];
  try {
    classes = await jsonFetch('/api/perception/yolo/classes');
    if (Array.isArray(classes.classes)) classes = classes.classes;
  } catch (_) { classes = []; }
  const cfg = await jsonFetch('/api/config').catch(() => ({}));
  const dflt = (cfg.tab_right_arm && cfg.tab_right_arm.yolo_class) || 'pestello';
  for (const id of ['raFrontClass', 'raWristClass']) {
    const sel = $(id);
    sel.innerHTML = '';
    const names = classes.length ? classes.map(c => c.name || c) : [dflt];
    for (const n of names) {
      const opt = document.createElement('option');
      opt.value = n; opt.textContent = n;
      if (n === dflt) opt.selected = true;
      sel.appendChild(opt);
    }
  }
  if (cfg.tab_right_arm) {
    const cf = cfg.tab_right_arm.yolo_conf_front;
    const cw = cfg.tab_right_arm.yolo_conf_wrist;
    $('raFrontConf').value = (cf === undefined || cf === null) ? 0.4 : cf;
    $('raWristConf').value = (cw === undefined || cw === null) ? 0.4 : cw;
  }
}

// ---------------- Detect on-demand ----------------

async function onDetectFront() {
  const className = $('raFrontClass').value;
  const conf = parseFloat($('raFrontConf').value) || null;
  const proxy = window.location.origin;
  try {
    const res = await jsonFetch('/api/right_arm/detect/front', {
      method: 'POST', headers: { 'Content-Type': 'application/json' },
      body: JSON.stringify({ class_name: className, conf, proxy_base_url: proxy }),
    });
    const top = res.detections[0];
    drawBbox($('raFrontCanvas'), $('raFrontImg'), top.bbox,
             `${top.class} ${(top.confidence * 100).toFixed(0)}%`);
    $('raFrontResult').classList.remove('dim');
    $('raFrontResult').textContent =
      `classe: ${top.class}  conf: ${top.confidence.toFixed(2)}  ` +
      `bbox: [${Math.round(top.bbox.x1)},${Math.round(top.bbox.y1)},` +
      `${Math.round(top.bbox.x2)},${Math.round(top.bbox.y2)}]`;
  } catch (e) {
    clearCanvas($('raFrontCanvas'));
    $('raFrontResult').textContent = `Errore: ${e.message}`;
  }
}

async function onDetectWrist() {
  const className = $('raWristClass').value;
  const conf = parseFloat($('raWristConf').value) || null;
  try {
    const res = await jsonFetch('/api/right_arm/detect/wrist', {
      method: 'POST', headers: { 'Content-Type': 'application/json' },
      body: JSON.stringify({ class_name: className, conf }),
    });
    drawBbox($('raWristCanvas'), $('raWristImg'), res.detection.bbox,
             `${res.detection.class} ${(res.detection.confidence * 100).toFixed(0)}%`);
    const c = res.centroid_camera_m;
    $('raWristResult').classList.remove('dim');
    $('raWristResult').textContent =
      `classe: ${res.detection.class}  conf: ${res.detection.confidence.toFixed(2)}\n` +
      `centroide cam (m): x=${c[0].toFixed(3)} y=${c[1].toFixed(3)} z=${c[2].toFixed(3)}\n` +
      `distanza: ${(res.distance_m * 1000).toFixed(0)} mm  ` +
      `punti SAM21: ${res.n_sam21_points}`;
  } catch (e) {
    clearCanvas($('raWristCanvas'));
    $('raWristResult').textContent = `Errore: ${e.message}`;
  }
}

// ---------------- Posa polso ----------------

async function refreshPose() {
  try {
    const s = await jsonFetch('/api/right_arm/state');
    const p = s.wrist.position;
    const r = s.wrist.rpy_deg;
    setText('raPoseX', p[0].toFixed(3));
    setText('raPoseY', p[1].toFixed(3));
    setText('raPoseZ', p[2].toFixed(3));
    setText('raPoseR', r[0].toFixed(1));
    setText('raPoseP', r[1].toFixed(1));
    setText('raPoseW', r[2].toFixed(1));
    // Aggiorna anche i campi delle pose (solo se non sono stati toccati)
    if (s.home_pose) fillPoseFields('raHome', s.home_pose);
    if (s.custom_pose) fillPoseFields('raCust', s.custom_pose);
    if (s.offset_camera_mm) {
      $('raOffX').value = s.offset_camera_mm.x;
      $('raOffY').value = s.offset_camera_mm.y;
      $('raOffZ').value = s.offset_camera_mm.z;
    }
    if (s.axis_signs) {
      $('raSgnX').value = s.axis_signs.x;
      $('raSgnY').value = s.axis_signs.y;
      $('raSgnZ').value = s.axis_signs.z;
    }
  } catch (e) {
    // silenzioso: il polso può non essere disponibile
  }
}

function fillPoseFields(prefix, pose) {
  const xId = prefix + 'X';
  if ($(xId).dataset.userTouched) return;
  $(xId).value = pose.position[0];
  $(prefix + 'Y').value = pose.position[1];
  $(prefix + 'Z').value = pose.position[2];
  $(prefix + 'R').value = pose.rpy_deg[0];
  $(prefix + 'P').value = pose.rpy_deg[1];
  $(prefix + 'W').value = pose.rpy_deg[2];
}

function readPoseFields(prefix) {
  return {
    position: [
      parseFloat($(prefix + 'X').value),
      parseFloat($(prefix + 'Y').value),
      parseFloat($(prefix + 'Z').value),
    ],
    rpy_deg: [
      parseFloat($(prefix + 'R').value),
      parseFloat($(prefix + 'P').value),
      parseFloat($(prefix + 'W').value),
    ],
  };
}

// ---------------- Offset save ----------------

async function onSaveOffset() {
  try {
    await jsonFetch('/api/right_arm/offset', {
      method: 'PUT', headers: { 'Content-Type': 'application/json' },
      body: JSON.stringify({
        move_offset_camera_mm: {
          x: parseFloat($('raOffX').value),
          y: parseFloat($('raOffY').value),
          z: parseFloat($('raOffZ').value),
        },
        axis_sign_cam_to_wrist: {
          x: parseInt($('raSgnX').value, 10),
          y: parseInt($('raSgnY').value, 10),
          z: parseInt($('raSgnZ').value, 10),
        },
      }),
    });
    alert('Offset salvato.');
  } catch (e) {
    alert(`Errore salvataggio: ${e.message}`);
  }
}

// ---------------- Move toward ----------------

async function onMove() {
  const className = $('raWristClass').value;
  const conf = parseFloat($('raWristConf').value) || null;
  const dryRun = $('raMoveDryRun').checked;
  if (!dryRun && !confirm('Dry-run OFF: eseguire move REALE verso il pezzo?')) return;
  try {
    const res = await jsonFetch('/api/right_arm/move/toward', {
      method: 'POST', headers: { 'Content-Type': 'application/json' },
      body: JSON.stringify({ class_name: className, conf, dry_run: dryRun }),
    });
    const d = res.delta_wrist_mm;
    $('raMoveResult').classList.remove('dim');
    $('raMoveResult').textContent =
      `delta polso (mm): X=${d[0].toFixed(1)} Y=${d[1].toFixed(1)} Z=${d[2].toFixed(1)}  ` +
      `distanza: ${(res.distance_m * 1000).toFixed(0)} mm  ` +
      `applicato: ${res.applied}  z_clipped: ${res.z_clipped}`;
    if (!dryRun) await refreshPose();
  } catch (e) {
    $('raMoveResult').textContent = `Errore: ${e.message}`;
  }
}

// ---------------- Home / Custom ----------------

async function onHome() {
  const dryRun = false;  // home è "safe": default false
  if (!confirm('Eseguire move verso posa Home? (no dry-run)')) return;
  try {
    const res = await jsonFetch('/api/right_arm/home', {
      method: 'POST', headers: { 'Content-Type': 'application/json' },
      body: JSON.stringify({ dry_run: dryRun }),
    });
    await refreshPose();
    alert(`Home eseguita: applied=${res.applied}`);
  } catch (e) {
    alert(`Errore Home: ${e.message}`);
  }
}

async function onCustomGo() {
  if (!confirm('Eseguire move verso posa Custom?')) return;
  try {
    await jsonFetch('/api/right_arm/custom_pose', {
      method: 'POST', headers: { 'Content-Type': 'application/json' },
      body: JSON.stringify({ dry_run: false }),
    });
    await refreshPose();
  } catch (e) {
    alert(`Errore Custom: ${e.message}`);
  }
}

async function onCustomSave() {
  const pose = readPoseFields('raCust');
  try {
    await jsonFetch('/api/right_arm/custom_pose', {
      method: 'PUT', headers: { 'Content-Type': 'application/json' },
      body: JSON.stringify(pose),
    });
    alert('Posa custom salvata in config.');
  } catch (e) {
    alert(`Errore salvataggio: ${e.message}`);
  }
}

async function onCustomUseCurrent() {
  try {
    const s = await jsonFetch('/api/right_arm/state');
    $('raCustX').value = s.wrist.position[0].toFixed(3);
    $('raCustY').value = s.wrist.position[1].toFixed(3);
    $('raCustZ').value = s.wrist.position[2].toFixed(3);
    $('raCustR').value = s.wrist.rpy_deg[0].toFixed(1);
    $('raCustP').value = s.wrist.rpy_deg[1].toFixed(1);
    $('raCustW').value = s.wrist.rpy_deg[2].toFixed(1);
    // Marca i campi come "user touched" così refreshPose non li sovrascrive
    for (const k of ['X','Y','Z','R','P','W']) $('raCust' + k).dataset.userTouched = '1';
  } catch (e) {
    alert(`Errore lettura posa: ${e.message}`);
  }
}

// ---------------- Init ----------------

function markUserTouchedOnInput(prefix) {
  for (const k of ['X','Y','Z','R','P','W']) {
    const el = $(prefix + k);
    if (el) el.addEventListener('input', () => { el.dataset.userTouched = '1'; });
  }
}

function init() {
  if (!$('tab-right-arm')) return;
  $('raActivateBtn').addEventListener('click', onActivateClick);
  $('raFrontDetectBtn').addEventListener('click', onDetectFront);
  $('raWristDetectBtn').addEventListener('click', onDetectWrist);
  $('raMoveBtn').addEventListener('click', onMove);
  $('raSaveOffsetBtn').addEventListener('click', onSaveOffset);
  $('raHomeBtn').addEventListener('click', onHome);
  $('raCustomGoBtn').addEventListener('click', onCustomGo);
  $('raCustomSaveBtn').addEventListener('click', onCustomSave);
  $('raCustomUseCurrentBtn').addEventListener('click', onCustomUseCurrent);
  $('raPoseRefreshBtn').addEventListener('click', refreshPose);
  $('raFrontAutoRefresh').addEventListener('change', startFrontLoop);
  $('raWristAutoRefresh').addEventListener('change', startWristLoop);
  markUserTouchedOnInput('raHome');
  markUserTouchedOnInput('raCust');

  populateClassDropdowns();
  startFrontLoop();
  startWristLoop();
  refreshBanner();
  refreshPose();
  if (poseTimer) clearInterval(poseTimer);
  poseTimer = setInterval(refreshPose, POSE_REFRESH_MS);
}

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