import type { XyzacCapabilitySnapshot, XyzacKinematicsSnapshot } from "./protocol";

export const XYZAC_CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" as const;
export const XYZAC_AXES = ["x", "y", "z", "a", "c"] as const;
export const XYZAC_COMMANDS = {
  power: "POWER",
  selectKinematics: "KINEMATICS_SELECT",
  clearVisual: "VISUAL_CLEAR",
} as const;
export const XYZAC_KINEMATICS = [
  { type: 0, action: "switchkinsIdentity", label: "Identity", mcode: "M429" },
  { type: 1, action: "switchkinsXyzac", label: "TCP: XYZAC", mcode: "M428" },
  { type: 2, action: "switchkinsUserk", label: "User K", mcode: "M430" },
] as const;

export type XyzacGate = { action: string; enabled: boolean; reason: string; required_type?: number; visual_only?: boolean };
export type XyzacOperationTrace = { operation_id?: string; kind?: string; action?: string | null; phase?: string; reason?: string; response_kind?: string };
export type XyzacPanelView = {
  status: "ready" | "unavailable";
  tick: number;
  stateHash: string;
  kinematics: XyzacKinematicsSnapshot | null;
  capability: XyzacCapabilitySnapshot | null;
  pose: XyzacKinematicsSnapshot["pose"] | null;
  joints: number[];
  gates: Record<string, XyzacGate>;
  recovery: Record<string, unknown> | null;
};

type XyzacPanelSource = {
  simulation_tick?: number;
  state_hash?: string;
  kinematics?: XyzacKinematicsSnapshot;
  xyzac?: XyzacCapabilitySnapshot;
  gates?: Record<string, XyzacGate>;
  authoritative?: Record<string, unknown>;
  visual?: { pose?: Record<string, number>; joints?: number[] };
};

export function projectXyzacPanel(snapshot: XyzacPanelSource | null | undefined): XyzacPanelView {
  const kinematics = snapshot?.kinematics?.coordinates === "XYZAC" && snapshot.kinematics.joint_count === 5 ? snapshot.kinematics : null;
  const capability = snapshot?.xyzac?.coordinates === "XYZAC" && snapshot.xyzac.joint_count === 5 ? snapshot.xyzac : null;
  const visualPose = snapshot?.visual?.pose;
  const pose = visualPose && [visualPose.x, visualPose.y, visualPose.z, visualPose.a, visualPose.c].every((value) => Number.isFinite(value))
    ? { ...(kinematics?.pose ?? { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, u: 0, v: 0, w: 0 }), ...visualPose }
    : kinematics?.pose ?? null;
  const joints = snapshot?.visual?.joints?.length === 5 ? snapshot.visual.joints.slice(0, 5) : kinematics?.joints ? [...kinematics.joints] : [];
  return {
    status: kinematics && capability ? "ready" : "unavailable",
    tick: snapshot?.simulation_tick ?? 0,
    stateHash: snapshot?.state_hash ?? "",
    kinematics,
    capability,
    pose,
    joints,
    gates: snapshot?.gates ?? {},
    recovery: (snapshot?.authoritative?.recovery as Record<string, unknown> | undefined) ?? null,
  };
}