import { connectToHost } from "@pollen-robotics/reachy-mini-sdk/host/embed";
import { ConversationManager } from "./conversation.ts";
import { AnimationEngine } from "./animations.ts";
import { SpeechManager } from "./speech.ts";
import { UIManager } from "./ui.ts";
import type { ReachyMini } from "@pollen-robotics/reachy-mini-sdk";

// Simple safe return to home pose
async function safelyReturnToPose(reachy: ReachyMini) {
  try {
    reachy.setMotorMode("enabled");
    reachy.setHeadRpyDeg(0, 0, 0);
    reachy.setAntennasDeg(0, 0);
    reachy.setBodyYawDeg(0);
  } catch (e) {
    console.error("Failed to return to safe pose:", e);
  }
}

export async function main() {
  const handle = await connectToHost();
  const reachy = handle.reachy as ReachyMini;

  document.documentElement.setAttribute("data-theme", handle.theme);
  handle.onThemeChange((t) => document.documentElement.setAttribute("data-theme", t));

  const animations = new AnimationEngine(reachy);
  const speech = new SpeechManager();
  const conversation = new ConversationManager();
  const ui = new UIManager({
    onSendMessage: (text) => conversation.sendMessage(text),
    onStartListening: () => speech.startListening(),
    onStopListening: () => speech.stopListening(),
    onConnectOllama: (url, model) => conversation.connectOllama(url, model),
  });

  // Handle incoming speech-to-text results
  speech.onResult((text) => {
    conversation.sendMessage(text);
  });

  // When a new conversation message arrives
  conversation.onMessage(async (msg) => {
    ui.addMessage(msg.role, msg.content);

    if (msg.role === "assistant") {
      // Animate while speaking
      await animations.animateSpeaking(msg.content);
      // Speak the response
      await speech.speak(msg.content);
      animations.stopSpeaking();
    }
  });

  // Conversation lull → dance
  let lullTimer: ReturnType<typeof setTimeout> | null = null;
  const LULL_TIMEOUT_MS = 8000; // 8 seconds of inactivity

  function resetLullTimer() {
    if (lullTimer) clearTimeout(lullTimer);
    lullTimer = setTimeout(async () => {
      ui.showStatus("dancing");
      await animations.doRandomDance();
      ui.showStatus("idle");
    }, LULL_TIMEOUT_MS);
  }

  conversation.onActivity(resetLullTimer);
  ui.onActivity(resetLullTimer);

  // Safe teardown
  handle.onLeave(() => {
    if (lullTimer) clearTimeout(lullTimer);
    speech.destroy();
    safelyReturnToPose(reachy);
  });

  // Initial greeting
  setTimeout(() => {
    conversation.sendSystem("You are Reachy, a friendly and expressive robot. Keep responses short and engaging.");
  }, 1000);
}

void main().catch((err) => {
  console.error("[embed] Boot failed:", err);
  window.parent.postMessage(
    { source: "reachy-mini", type: "embed:error", version: 1, message: String(err), fatal: true },
    window.location.origin,
  );
});