<script lang="ts">
	import type { Robot } from "$lib/elements/robot/Robot.svelte.js";
	import * as Alert from "@/components/ui/alert";
	import { Badge } from "@/components/ui/badge";
	import { Button } from "@/components/ui/button";
	import * as Card from "@/components/ui/card";
	import * as Dialog from "@/components/ui/dialog";
	import { Separator } from "@/components/ui/separator";
	import { toast } from "svelte-sonner";
	import { settings } from "$lib/runes/settings.svelte";
	import USBCalibrationPanel from "$lib/elements/robot/calibration/USBCalibrationPanel.svelte";
	import { robotManager } from "$lib/elements/robot/RobotManager.svelte.js";

	interface Props {
		workspaceId: string;
		open: boolean;
		robot: Robot;
	}

	let { open = $bindable(), robot, workspaceId }: Props = $props();

	// Connection state
	let isConnecting = $state(false);
	let error = $state<string | null>(null);

	// USB connection flow state
	let showUSBCalibration = $state(false);
	let pendingUSBConnection: 'output' | null = $state(null);

	// Room management state
	let selectedRoomId = $state('');
	let customRoomId = $state('');
	let hasLoadedRooms = $state(false);

	// Reactive state from robot
	const outputDriverCount = $derived(robot.outputDriverCount);
	const producers = $derived(robot.producers);

	// Auto-load rooms when modal opens (only once per modal session)
	$effect(() => {
		if (open && !hasLoadedRooms && !robotManager.roomsLoading) {
			refreshRooms();
			hasLoadedRooms = true;
		}
		
		// Reset when modal closes
		if (!open) {
			hasLoadedRooms = false;
			error = null;
		}
	});

	// Set up calibration completion callback
	$effect(() => {
		robot.calibrationManager.onCalibrationCompleteWithPositions((finalPositions) => {
			robot.syncToCalibrationPositions(finalPositions);
		});
	});

	// Room management functions
	async function refreshRooms() {
		try {
			error = null;
			await robotManager.refreshRooms(workspaceId);
		} catch (err) {
			error = err instanceof Error ? err.message : 'Failed to refresh rooms';
		}
	}

	async function createRoom() {
		try {
			isConnecting = true;
			error = null;
			const roomId = customRoomId.trim() || robot.id;
			const result = await robotManager.createRoboticsRoom(workspaceId, roomId);
			
			if (result.success) {
				customRoomId = '';
				await refreshRooms();
				toast.success("Room Created", {
					description: `Successfully created room ${result.roomId}`
				});
			} else {
				error = result.error || 'Failed to create room';
			}
		} catch (err) {
			error = err instanceof Error ? err.message : 'Failed to create room';
		} finally {
			isConnecting = false;
		}
	}

	async function joinRoomAsOutput() {
		if (!selectedRoomId) {
			error = 'Please select a room';
			return;
		}
		
		try {
			isConnecting = true;
			error = null;
			await robotManager.connectProducerToRoom(workspaceId, robot.id, selectedRoomId);
			toast.success("Joined Room as Output", {
				description: `Successfully joined room ${selectedRoomId} - now sending commands`
			});
		} catch (err) {
			error = err instanceof Error ? err.message : 'Failed to join room as output';
		} finally {
			isConnecting = false;
		}
	}

	async function createRoomAndJoinAsOutput() {
		try {
			isConnecting = true;
			error = null;
			const roomId = customRoomId.trim() || robot.id;
			const result = await robotManager.connectProducerAsProducer(workspaceId, robot.id, roomId);
			
			if (result.success) {
				customRoomId = '';
				await refreshRooms();
				toast.success("Room Created & Joined", {
					description: `Successfully created and joined room ${result.roomId} - ready to send commands`
				});
			} else {
				error = result.error || 'Failed to create room and join as output';
			}
		} catch (err) {
			error = err instanceof Error ? err.message : 'Failed to create room and join as output';
		} finally {
			isConnecting = false;
		}
	}

	async function connectUSBOutput() {
		try {
			isConnecting = true;
			error = null;

			// Check if calibration is needed
			if (robot.calibrationManager.needsCalibration) {
				pendingUSBConnection = 'output';
				showUSBCalibration = true;
				return;
			}

			await robot.addProducer({
				type: 'usb',
				baudRate: 1000000
			});
			
			toast.success("USB Output Connected", {
				description: "Successfully connected to physical robot hardware"
			});
		} catch (err) {
			error = err instanceof Error ? err.message : 'Unknown error';
			toast.error("Failed to Connect USB Output", {
				description: `Could not connect to robot hardware: ${error}`
			});
		} finally {
			isConnecting = false;
		}
	}

	async function disconnectOutput(producerId: string) {
		try {
			isConnecting = true;
			error = null;
			await robot.removeProducer(producerId);
			
			toast.success("Output Disconnected", {
				description: "Successfully disconnected output"
			});
		} catch (err) {
			error = err instanceof Error ? err.message : 'Unknown error';
			toast.error("Failed to Disconnect Output", {
				description: `Could not disconnect output: ${error}`
			});
		} finally {
			isConnecting = false;
		}
	}

	// Handle calibration completion
	async function onCalibrationComplete() {
		showUSBCalibration = false;
		
		if (pendingUSBConnection === 'output') {
			await connectUSBOutput();
		}
		
		pendingUSBConnection = null;
	}

	function onCalibrationCancel() {
		showUSBCalibration = false;
		pendingUSBConnection = null;
		isConnecting = false;
	}
</script>

<Dialog.Root bind:open>
	<Dialog.Content
		class="max-h-[85vh] max-w-4xl overflow-hidden border-slate-600 bg-slate-900 text-slate-100"
	>
		<Dialog.Header class="pb-3">
			<Dialog.Title class="flex items-center gap-2 text-lg font-bold text-slate-100">
				<span class="icon-[mdi--devices] size-5 text-blue-400"></span>
				Output Connection - Robot {robot.id}
			</Dialog.Title>
			<Dialog.Description class="text-sm text-slate-400">
				Configure where this robot sends its movements. Multiple outputs can be active simultaneously.
			</Dialog.Description>
		</Dialog.Header>

		<div class="max-h-[calc(85vh-10rem)] overflow-y-auto">
			<div class="space-y-4 pb-4">
				<!-- Error display -->
				{#if error}
					<Alert.Root class="border-red-500/30 bg-red-900/20">
						<span class="icon-[mdi--alert-circle] size-4 text-red-400"></span>
						<Alert.Title class="text-red-300">Connection Error</Alert.Title>
						<Alert.Description class="text-red-400 text-sm">
							{error}
						</Alert.Description>
					</Alert.Root>
				{/if}

				<!-- USB Calibration Panel -->
				{#if showUSBCalibration}
					<Card.Root class="border-orange-500/30 bg-orange-900/20">
						<Card.Header>
							<div class="flex justify-between items-center">
								<Card.Title class="text-lg font-semibold text-orange-200">
									Hardware Calibration Required
								</Card.Title>
								<button
									onclick={onCalibrationCancel}
									class="text-gray-400 hover:text-white"
								>
									✕
								</button>
							</div>
						</Card.Header>
						<Card.Content class="space-y-4">
							<Alert.Root class="border-orange-500/30 bg-orange-500/10">
								<span class="icon-[mdi--information] size-4 text-orange-400"></span>
								<Alert.Description class="text-orange-200 text-sm">
									Before connecting to the physical robot, calibration is required to map the servo positions to software values. This ensures accurate control.
								</Alert.Description>
							</Alert.Root>

							<USBCalibrationPanel 
								calibrationManager={robot.calibrationManager}
								connectionType="producer"
								{onCalibrationComplete}
								onCancel={onCalibrationCancel}
							/>
						</Card.Content>
					</Card.Root>
				{:else}

				<!-- Current Status Overview -->
				<Card.Root class="border-blue-500/30 bg-blue-900/20">
					<Card.Content class="p-4">
						<div class="flex items-center justify-between">
							<div class="flex items-center gap-2">
								<span class="icon-[mdi--broadcast] size-4 text-blue-400"></span>
								<span class="text-sm font-medium text-blue-300">Active Outputs</span>
							</div>
							<Badge variant="default" class="bg-blue-600 text-xs">
								{outputDriverCount} Connected
							</Badge>
						</div>
					</Card.Content>
				</Card.Root>

				<!-- Local Hardware Connection -->
				<Card.Root class="border-green-500/30 bg-green-500/5">
					<Card.Header>
						<Card.Title class="flex items-center gap-2 text-base text-green-200">
							<span class="icon-[mdi--usb-port] size-4"></span>
							Local Hardware (USB)
						</Card.Title>
						<Card.Description class="text-xs text-green-300/70">
							Send commands directly to physical robot hardware
						</Card.Description>
					</Card.Header>
					<Card.Content class="space-y-3">
						<Button
							variant="secondary"
							onclick={connectUSBOutput}
							disabled={isConnecting}
							class="w-full bg-green-600 text-sm text-white hover:bg-green-700"
						>
							<span class="icon-[mdi--usb] mr-2 size-4"></span>
							{isConnecting ? 'Connecting...' : 'Add USB Output'}
						</Button>
					</Card.Content>
				</Card.Root>

				<!-- Remote Collaboration -->
				<Card.Root class="border-orange-500/30 bg-orange-500/5">
					<Card.Header>
						<div class="flex items-center justify-between">
							<div>
								<Card.Title class="flex items-center gap-2 text-base text-orange-200">
									<span class="icon-[mdi--cloud-sync] size-4"></span>
									Remote Collaboration (Rooms)
								</Card.Title>
								<Card.Description class="text-xs text-orange-300/70">
									Broadcast robot movements to remote systems and AI
								</Card.Description>
							</div>
							<Button
								variant="ghost"
								size="sm"
								onclick={refreshRooms}
								disabled={robotManager.roomsLoading || isConnecting}
								class="h-7 px-2 text-xs text-orange-300 hover:text-orange-200 hover:bg-orange-500/20"
							>
								{#if robotManager.roomsLoading}
									<span class="icon-[mdi--loading] animate-spin size-3 mr-1"></span>
									Refreshing
								{:else}
									<span class="icon-[mdi--refresh] size-3 mr-1"></span>
									Refresh
								{/if}
							</Button>
						</div>
					</Card.Header>
					<Card.Content class="space-y-4">
						<!-- Create New Room -->
						<div class="rounded border-2 border-dashed border-green-500/50 bg-green-500/5 p-3">
							<div class="space-y-2">
								<div class="flex items-center gap-2">
									<span class="icon-[mdi--plus-circle] size-4 text-green-400"></span>
									<p class="text-sm font-medium text-green-300">Create New Room</p>
								</div>
								<p class="text-xs text-green-400/70">
									Create a room to broadcast this robot's movements
								</p>
								<input
									bind:value={customRoomId}
									placeholder={`Room ID (default: ${robot.id})`}
									disabled={isConnecting}
									class="w-full px-2 py-1 bg-slate-700 border border-slate-600 rounded text-xs text-slate-100 disabled:opacity-50"
								/>
								<div class="flex gap-1">
									<Button
										variant="secondary"
										size="sm"
										onclick={createRoom}
										disabled={isConnecting}
										class="h-6 px-2 text-xs bg-green-600 hover:bg-green-700"
									>
										Create Only
									</Button>
									<Button
										variant="secondary"
										size="sm"
										onclick={createRoomAndJoinAsOutput}
										disabled={isConnecting}
										class="h-6 px-2 text-xs bg-green-600 hover:bg-green-700"
									>
										Create & Join as Output
									</Button>
								</div>
							</div>
						</div>

						<!-- Existing Rooms -->
						<div class="space-y-2">
							<div class="flex items-center justify-between">
								<span class="text-xs font-medium text-orange-300">Join Existing Room:</span>
								<span class="text-xs text-slate-400">
									{robotManager.rooms.length} room{robotManager.rooms.length !== 1 ? 's' : ''} available
								</span>
							</div>
							
							<div class="max-h-40 space-y-2 overflow-y-auto">
								{#if robotManager.rooms.length === 0}
									<div class="text-center py-3 text-xs text-slate-400">
										{robotManager.roomsLoading ? 'Loading rooms...' : 'No rooms available. Create one to get started.'}
									</div>
								{:else}
									{#each robotManager.rooms as room}
										<div class="rounded border border-slate-600 bg-slate-800/50 p-2">
											<div class="flex items-start justify-between gap-3">
												<div class="flex-1 min-w-0">
													<p class="text-xs font-medium text-slate-200 truncate">
														{room.id}
													</p>
													<div class="flex gap-3 text-xs text-slate-400">
														<span>{room.has_producer ? '🔴 Occupied' : '🟢 Available'}</span>
														<span>👥 {room.participants?.total || 0} users</span>
													</div>
												</div>
												{#if !room.has_producer}
													<Button
														variant="secondary"
														size="sm"
														onclick={() => {
															selectedRoomId = room.id;
															joinRoomAsOutput();
														}}
														disabled={isConnecting}
														class="h-6 px-2 text-xs bg-orange-600 hover:bg-orange-700 shrink-0"
													>
														<span class="icon-[mdi--login] mr-1 size-3"></span>
														Join as Output
													</Button>
												{:else}
													<Button
														variant="ghost"
														size="sm"
														disabled
														class="h-6 px-2 text-xs opacity-50 shrink-0"
													>
														Occupied
													</Button>
												{/if}
											</div>
										</div>
									{/each}
								{/if}
							</div>
						</div>
					</Card.Content>
				</Card.Root>

				<!-- Connected Outputs -->
				{#if producers.length > 0}
					<Card.Root class="border-blue-500/30 bg-blue-500/5">
						<Card.Header>
							<Card.Title class="flex items-center gap-2 text-base text-blue-200">
								<span class="icon-[mdi--connection] size-4"></span>
								Connected Outputs
							</Card.Title>
						</Card.Header>
						<Card.Content>
							<div class="max-h-32 space-y-2 overflow-y-auto">
								{#each producers as producer}
									<div class="flex items-center justify-between rounded-md bg-slate-700/50 p-2">
										<div class="flex items-center gap-2">
											<span 
												class="size-2 rounded-full {producer.status.isConnected ? 'bg-green-400' : 'bg-red-400'}"
											></span>
											<span class="text-sm text-slate-300">{producer.name}</span>
											<Badge variant="secondary" class="text-xs">{producer.id.slice(0, 12)}</Badge>
										</div>
										<Button
											variant="destructive"
											size="sm"
											onclick={() => disconnectOutput(producer.id)}
											disabled={isConnecting}
											class="h-6 px-2 text-xs"
										>
											<span class="icon-[mdi--close] size-3"></span>
										</Button>
									</div>
								{/each}
							</div>
						</Card.Content>
					</Card.Root>
				{/if}

				<!-- Help Information -->
				<Alert.Root class="border-slate-700 bg-slate-800/30">
					<span class="icon-[mdi--help-circle] size-4 text-slate-400"></span>
					<Alert.Title class="text-slate-300">Output Sources</Alert.Title>
					<Alert.Description class="text-slate-400 text-xs">
						<strong>USB:</strong> Control physical hardware • <strong>Remote:</strong> Broadcast to network • Multiple outputs can be active
					</Alert.Description>
				</Alert.Root>
				{/if}
			</div>
		</div>
	</Dialog.Content>
</Dialog.Root> 