const STATUS_LABELS = {
  disconnected: 'Disconnected — select a port and connect',
  connecting: 'Connecting…',
  connected_disarmed: 'Connected · Disarmed',
  armed: 'Connected · Armed',
  link_degraded: 'Signal lost — check tether',
};
const $=s=>document.querySelector(s), $$=s=>[...document.querySelectorAll(s)];
const control={forward:0,turn:0,vertical:0}, keys=new Set(); let bridgeReady=false, appState='disconnected', batteryConfig={}, servoSignature='', lastAxisSend=0, axisTimer=0;
const api=(name,...args)=>window.pywebview.api[name](...args);
addEventListener('pointermove',e=>{const button=e.target.closest?.('button:not(.battery-card), .stick');if(!button)return;const rect=button.getBoundingClientRect();button.style.setProperty('--glow-x',`${e.clientX-rect.left}px`);button.style.setProperty('--glow-y',`${e.clientY-rect.top}px`)});
document.addEventListener('click',e=>{const btn=e.target.closest('.num-step');if(!btn)return;const pill=btn.closest('.number-pill');if(!pill)return;const input=pill.querySelector('input');if(!input)return;const step=+input.step||1,min=input.min!==''?+input.min:-Infinity,max=input.max!==''?+input.max:Infinity;let val=+input.value||0;if(btn.classList.contains('down'))val=Math.max(min,+(val-step).toFixed(4));else val=Math.min(max,+(val+step).toFixed(4));input.value=val;input.dispatchEvent(new Event('input',{bubbles:true}));input.dispatchEvent(new Event('change',{bubbles:true}))});
function toast(message,error=false){const el=$('#toast');el.textContent=message;el.className=`toast show${error?' error':''}`;clearTimeout(toast.t);toast.t=setTimeout(()=>el.className='toast',2600)}
window.showToast=toast;
function populatePorts(ports){
  const p=$('#port');
  if(!p)return;
  const old=p.value||'';
  p.innerHTML='';
  
  const allList=[];
  const seen=new Set();

  const addPort=item=>{
    let dev=item, lbl=item;
    if(item&&typeof item==='object'){
      dev=item.device||'';
      lbl=item.label||dev;
    }
    if(dev&&!seen.has(dev)){
      seen.add(dev);
      allList.push({device:dev, label:lbl});
    }
  };

  if(Array.isArray(ports)) ports.forEach(addPort);
  addPort({device:'demo', label:'Demo Mode (no hardware)'});

  let matched=false;
  allList.forEach(item=>{
    const opt=new Option(item.label, item.device);
    p.add(opt);
    if(item.device===old){
      p.value=item.device;
      matched=true;
    }
  });
  if(!matched&&allList.length>0){
    p.value=allList[0].device;
  }
}
function sendAxes(){if(!bridgeReady||appState!=='armed')return;const transmit=()=>{lastAxisSend=performance.now();axisTimer=0;api('set_axes',control.forward,control.turn,control.vertical).catch(e=>toast(e.message,true))},wait=50-(performance.now()-lastAxisSend);if(wait<=0)transmit();else{clearTimeout(axisTimer);axisTimer=setTimeout(transmit,wait)}}
function updateReadouts(){ if(appState!=='armed'){$('#surge-readout').textContent='—';$('#yaw-readout').textContent='—';$('#heave-readout').textContent='—';return;}$('#surge-readout').textContent=Math.round(control.forward*100);$('#yaw-readout').textContent=Math.round(control.turn*100);$('#heave-readout').textContent=Math.round(control.vertical*100);}

window.setJoyControl=(x,y)=>{if(appState!=='armed')return;control.turn=x;control.forward=-y;updateReadouts();sendAxes();};
function releaseHandle(el){el.classList.remove('pressed');el.classList.add('released');setTimeout(()=>el.classList.remove('released'),520)}

const heave=$('#heave'),hknob=$('#heave-knob'),hfill=$('#heave-fill');let heaveDrag=false,heaveAnim=0;
function setHeave(v,send=true){if(appState!=='armed'&&v!==0)return;v=Math.max(-1,Math.min(1,v));control.vertical=v;hknob.style.top=`${50-v*43}%`;hfill.style.top=v>=0?`${50-v*43}%`:'50%';hfill.style.height=`${Math.abs(v)*43}%`;updateReadouts();if(send&&appState==='armed')sendAxes();}
function heaveEvent(e){const b=heave.getBoundingClientRect();setHeave((b.top+b.height/2-e.clientY)/(b.height*.43))}
heave.addEventListener('pointerdown',e=>{if(appState!=='armed')return;heaveDrag=true;hknob.classList.remove('released');hknob.classList.add('pressed');cancelAnimationFrame(heaveAnim);heave.setPointerCapture(e.pointerId);heaveEvent(e)});heave.addEventListener('pointermove',e=>{if(heaveDrag)heaveEvent(e)});heave.addEventListener('pointerup',()=>{heaveDrag=false;releaseHandle(hknob);easeHeave()});heave.addEventListener('pointercancel',()=>{heaveDrag=false;releaseHandle(hknob);easeHeave()});
function easeHeave(){const sv=control.vertical,start=performance.now();function frame(now){const p=Math.min(1,(now-start)/400),smooth=p*p*(3-2*p);setHeave(sv*(1-smooth));if(p<1)heaveAnim=requestAnimationFrame(frame)}heaveAnim=requestAnimationFrame(frame)}

function applyKeys(){if(appState!=='armed'){keys.clear();window.joystick3D?.easeBack();if(!heaveDrag)easeHeave();return;}const turn=(keys.has('d')||keys.has('e')?1:0)-(keys.has('a')||keys.has('q')?1:0),forward=(keys.has('w')?1:0)-(keys.has('s')?1:0),vertical=(keys.has('r')?1:0)-(keys.has('f')?1:0);if(turn||forward){window.joystick3D?.setPos(turn,-forward)}else{window.joystick3D?.easeBack()}if(vertical){cancelAnimationFrame(heaveAnim);setHeave(vertical)}else if(!heaveDrag)easeHeave();}
addEventListener('keydown',e=>{if(/^(INPUT|SELECT)$/.test(e.target.tagName))return;if(e.key==='F2'){e.preventDefault();if(appState==='connected_disarmed'&&engageButton?.classList.contains('arm')&&!e.repeat)startEngageHold();return;}if(e.key==='F1'){e.preventDefault();if(appState==='connected_disarmed'&&!engageButton?.classList.contains('arm')&&!e.repeat)engageButton?.click();return;}if(e.key==='F3'){e.preventDefault();if(appState==='armed'&&!e.repeat)engageButton?.click();return;}const k=e.key.toLowerCase();if('wasdqerf'.includes(k)){if(appState!=='armed')return;if(!keys.has(k)){keys.add(k);applyKeys();}}});addEventListener('keyup',e=>{if(e.key==='F2'){e.preventDefault();stopEngageHold(true);return;}const k=e.key.toLowerCase();if(keys.delete(k))applyKeys();});
addEventListener('blur',()=>{keys.clear();window.joystick3D?.easeBack();if(!heaveDrag)easeHeave()});

function openModal(id){
  const el=typeof id==='string'?document.getElementById(id):id;
  if(!el)return;
  el.classList.remove('closing');
  if(!el.open)el.showModal();
}
function closeModal(dialog){
  if(!dialog||!dialog.open||dialog.classList.contains('closing'))return;
  dialog.classList.add('closing');
  let done=false;
  const finish=()=>{
    if(done)return;
    done=true;
    dialog.removeEventListener('animationend',finish);
    dialog.classList.remove('closing');
    dialog.close();
  };
  dialog.addEventListener('animationend',finish,{once:true});
  setTimeout(finish,300);
}
$$('[data-open]').forEach(b=>b.onclick=()=>openModal(b.dataset.open));
$$('[data-close]').forEach(b=>b.onclick=()=>closeModal(b.closest('dialog')));
$$('dialog').forEach(d=>{
  d.addEventListener('cancel',e=>{e.preventDefault();closeModal(d)});
  d.addEventListener('click',e=>{
    const r=d.getBoundingClientRect();
    if(e.clientX<r.left||e.clientX>r.right||e.clientY<r.top||e.clientY>r.bottom)closeModal(d);
  });
});
$('#window-min').onclick=()=>api('minimize_window');$('#window-max').onclick=async()=>{const max=await api('toggle_maximize_window');document.body.classList.toggle('maximized',!!max)};$('#window-close').onclick=()=>{if(document.body.classList.contains('window-exiting'))return;document.body.classList.add('window-exiting');setTimeout(()=>api('close_window'),360)};$('.topbar').ondblclick=async e=>{if(!e.target.closest('button,select,input')){const max=await api('toggle_maximize_window');document.body.classList.toggle('maximized',!!max)}};
const modelInput=$('#model-input'), modelButton=$('#load-model'), rovStage=$('.rov-stage');

async function handleStlFile(file){
  if(!file)return;
  try{
    if(!file.name.toLowerCase().endsWith('.stl'))throw new Error('Choose an STL mesh (*.stl)');
    if(file.size>30*1024*1024)throw new Error('The STL is larger than 30 MB; export a lighter mesh');
    modelButton.disabled=true;
    modelButton.textContent='Loading…';
    const buffer=await file.arrayBuffer();
    const result=window.rovModel.loadBuffer(buffer,file.name);
    modelButton.textContent='Replace STL';
    toast(`Loaded ${result.name} • ${result.triangles.toLocaleString()} triangles`);
    if(bridgeReady&&window.pywebview?.api?.save_model){
      const dataUrl=await new Promise((resolve,reject)=>{
        const reader=new FileReader();
        reader.onload=()=>resolve(reader.result);
        reader.onerror=()=>reject(reader.error);
        reader.readAsDataURL(file);
      });
      api('save_model',file.name,String(dataUrl).split(',')[1]).catch(e=>console.warn(e));
    }
  }catch(error){
    toast(`STL import failed: ${error.message}`,true);
  }finally{
    modelButton.disabled=false;
    if(modelButton.textContent==='Loading…')modelButton.textContent='Load STL';
  }
}

modelButton.onclick=async()=>{
  let loaded=false;
  if(window.pywebview?.api?.choose_model){
    try{
      const model=await api('choose_model');
      if(model&&model.data){
        const res=window.rovModel.load(model);
        modelButton.textContent='Replace STL';
        toast(`Loaded ${res.name} • ${res.triangles.toLocaleString()} triangles`);
        loaded=true;
      }
    }catch(err){
      console.warn('choose_model error:', err);
    }
  }
  if(!loaded&&modelInput){
    modelInput.value='';
    modelInput.click();
  }
};

if(modelInput){
  modelInput.onchange=()=>{
    const file=modelInput.files?.[0];
    if(file)handleStlFile(file);
  };
}

if(rovStage){
  rovStage.addEventListener('dragover',e=>{e.preventDefault();e.stopPropagation();rovStage.classList.add('drag-over')});
  rovStage.addEventListener('dragleave',e=>{e.preventDefault();e.stopPropagation();rovStage.classList.remove('drag-over')});
  rovStage.addEventListener('drop',e=>{
    e.preventDefault();e.stopPropagation();rovStage.classList.remove('drag-over');
    const file=e.dataTransfer?.files?.[0];
    if(file)handleStlFile(file);
  });
}
$('#refresh').onclick=async e=>{const button=e.currentTarget;button.classList.remove('spinning');void button.offsetWidth;button.classList.add('spinning');setTimeout(()=>button.classList.remove('spinning'),650);if(bridgeReady)populatePorts(await api('refresh_ports'))};
$('#connect').onclick=async()=>{
  const btn=$('#connect');
  const label=btn.querySelector('.btn-label')||btn;
  const p=$('#port');
  const port=p?p.value:'';

  if(appState==='connecting'){
    label.textContent='Canceling…';
    try{ await api('disconnect'); }catch(_){}
    return;
  }

  if(appState!=='disconnected'){
    label.textContent='Disconnecting…';
    try{
      await api('disconnect');
      toast('Disconnected');
    }catch(e){
      toast(e.message,true);
    }
  }else{
    if(!port){
      toast('Select or enter a port to connect',true);
      return;
    }
    btn.classList.add('is-connecting');
    label.textContent='Connecting…';
    const statusEl=$('#status-text');
    if(statusEl)statusEl.textContent=`Opening ${port}…`;
    toast(`Connecting to ${port}…`);
    try{
      const confirmedState=await api('connect',port,+$('#baud').value,+$('#rate').value);
      if(confirmedState)render(confirmedState);
      toast('MAVLink connected');
    }catch(e){
      btn.classList.remove('is-connecting');
      label.textContent='Connect';
      toast(e.message,true);
      if(statusEl)statusEl.textContent=`Connection error: ${e.message}`;
    }
  }
};
const customPortBtn=$('#custom-port-btn'), customPortInput=$('#custom-port-input');
if(customPortBtn&&customPortInput){
  const applyCustomPort=()=>{
    const val=customPortInput.value.trim();
    if(!val)return;
    const p=$('#port');
    let exists=false;
    for(const opt of p.options){
      if(opt.value===val){opt.selected=true;exists=true;break;}
    }
    if(!exists){
      p.add(new Option(`Custom (${val})`, val), 0);
      p.value=val;
    }
    closeModal($('#link-modal'));
    toast(`Selected port: ${val}`);
  };
  customPortBtn.onclick=applyCustomPort;
  customPortInput.onkeydown=e=>{if(e.key==='Enter'){e.preventDefault();applyCustomPort();}};
}
const engageButton=$('#engage');
let engageHoldTimer=null, engageStart=0, engageCharged=false, settingMode=false;
const ENGAGE_HOLD_MS=1000;

function isManualMode(s){
  const m=(s&&s.mode)?String(s.mode).toUpperCase():'';
  return m==='MANUAL';
}

function updateEngageProgress(){
  if(!engageStart||appState!=='connected_disarmed'||!engageButton?.classList.contains('arm')){
    stopEngageHold(true);
    return;
  }
  const elapsed=performance.now()-engageStart;
  const progress=Math.min(1,elapsed/ENGAGE_HOLD_MS);
  engageButton.style.setProperty('--arm-progress',`${progress*100}%`);
  if(progress>=1){
    engageCharged=true;
    stopEngageHold(false);
    engageButton.classList.add('charged');
    setTimeout(()=>engageButton.classList.remove('charged'),600);
    api('command','arm').then(()=>toast('Vehicle armed')).catch(e=>toast(e.message,true));
    return;
  }
  engageHoldTimer=requestAnimationFrame(updateEngageProgress);
}

function startEngageHold(e){
  if(appState!=='connected_disarmed'||!engageButton?.classList.contains('arm'))return;
  if(engageStart||engageCharged)return;
  if(e&&e.button!==undefined&&e.button!==0)return;
  engageStart=performance.now();
  engageCharged=false;
  engageButton.classList.add('charging');
  engageButton.style.setProperty('--arm-progress','0%');
  engageHoldTimer=requestAnimationFrame(updateEngageProgress);
}

function stopEngageHold(wasCancelled=true){
  if(!engageStart)return;
  const elapsed=performance.now()-engageStart;
  cancelAnimationFrame(engageHoldTimer);
  engageHoldTimer=null;
  engageStart=0;
  engageButton.classList.remove('charging');
  engageButton.style.setProperty('--arm-progress','0%');
  if(wasCancelled&&!engageCharged&&elapsed<ENGAGE_HOLD_MS&&elapsed>70){
    toast('Hold for 1s to Engage vehicle');
  }
  engageCharged=false;
}

if(engageButton){
  engageButton.addEventListener('pointerdown',startEngageHold);
  engageButton.addEventListener('pointerup',()=>stopEngageHold(true));
  engageButton.addEventListener('pointerleave',()=>stopEngageHold(true));
  engageButton.addEventListener('pointercancel',()=>stopEngageHold(true));
  engageButton.addEventListener('contextmenu',e=>e.preventDefault());
  
  engageButton.onclick=async()=>{
    if(appState==='armed'){
      try{
        await api('command','disarm');
        toast('Disarm command sent');
      }catch(e){
        toast(e.message,true);
      }
    }else if(appState==='connected_disarmed'&&!engageButton.classList.contains('arm')){
      try{
        settingMode=true;
        const lbl=$('#engage-label');
        if(lbl)lbl.textContent='Setting mode…';
        await api('command','manual');
        toast('Manual mode requested');
      }catch(e){
        settingMode=false;
        toast(e.message,true);
      }
    }
  };
}

$('#logs').onclick=()=>api('open_logs');
function setGain(value){const gain=$('#gain');gain.value=Math.max(+gain.min,Math.min(+gain.max,value));$('#gain-value').textContent=`${gain.value}%`;if(bridgeReady)api('set_gain',+gain.value)}
$('#gain').oninput=e=>setGain(+e.target.value);$('#gain-down').onclick=()=>setGain(+$('#gain').value-5);$('#gain-up').onclick=()=>setGain(+$('#gain').value+5);
$('#battery-form').onsubmit=async e=>{e.preventDefault();const data=Object.fromEntries(new FormData(e.target));try{batteryConfig=await api('save_battery',data);closeModal($('#battery-modal'));toast('Battery settings saved')}catch(err){toast(err.message,true)}};
function fillBatteryForm(){for(const [k,v] of Object.entries(batteryConfig)){const el=$(`#battery-form [name=${k}]`);if(el)el.value=v}}
function renderMotors(servos){const signature=JSON.stringify(servos);if(signature===servoSignature)return;servoSignature=signature;const list=$('#motor-list');list.innerHTML='';for(let i=1;i<=16;i++){const s=servos[String(i)]||{},row=document.createElement('div');row.className='motor-row';const opts=['<option value="0">Unassigned</option>',...Array.from({length:12},(_,n)=>`<option value="${n+1}" ${s.motor===n+1?'selected':''}>Motor ${n+1}</option>`)].join('');row.innerHTML=`<strong>SERVO${i}</strong><select aria-label="SERVO${i} function">${opts}</select><span>${s.direction==null?'—':s.direction===-1?'Reversed':'Normal'}</span><button class="button subtle">Reverse</button>`;row.querySelector('select').onchange=e=>api('set_servo_function',i,+e.target.value).catch(x=>toast(x.message,true));row.querySelector('button').onclick=()=>api('reverse_motor',i).catch(x=>toast(x.message,true));list.append(row)}}
function render(s){
  appState=s.app_state||'disconnected';
  document.body.dataset.appState=appState;
  const isOnline=(appState==='connected_disarmed'||appState==='armed');
  const connectBtn=$('#connect');
  const connectLabel=connectBtn?connectBtn.querySelector('.btn-label'):null;
  if(connectBtn){
    if(appState==='connecting'){
      if(connectLabel)connectLabel.textContent='Connecting…';
      else connectBtn.textContent='Connecting…';
      connectBtn.classList.add('is-connecting');
      connectBtn.classList.remove('is-connected');
    }else if(appState!=='disconnected'){
      if(connectLabel)connectLabel.textContent='Disconnect';
      else connectBtn.textContent='Disconnect';
      connectBtn.classList.remove('is-connecting');
      connectBtn.classList.add('is-connected');
    }else{
      if(connectLabel)connectLabel.textContent='Connect';
      else connectBtn.textContent='Connect';
      connectBtn.classList.remove('is-connecting', 'is-connected');
    }
  }
  const engageBtn=$('#engage');
  const engageLabel=$('#engage-label');
  if(engageBtn&&engageLabel){
    if(appState==='armed'){
      settingMode=false;
      engageBtn.disabled=false;
      engageBtn.className='button danger';
      engageBtn.title='Disarm (F3)';
      engageLabel.textContent='Disarm';
    }else if(appState==='connected_disarmed'){
      const manualConfirmed=isManualMode(s);
      if(manualConfirmed){
        settingMode=false;
        engageBtn.disabled=false;
        engageBtn.className='button arm';
        engageBtn.title='Hold to Engage (F2)';
        engageLabel.textContent='Hold to Engage';
      }else{
        engageBtn.disabled=false;
        engageBtn.className='button subtle';
        engageBtn.title='Set Manual Mode (F1)';
        engageLabel.textContent=settingMode?'Setting mode…':'Engage';
      }
    }else{
      settingMode=false;
      engageBtn.disabled=true;
      engageBtn.className='button subtle';
      engageBtn.title='Engage';
      engageLabel.textContent='Engage';
    }
  }
  const motorBtn=$('[data-open="motors-modal"]');
  if(motorBtn)motorBtn.disabled=(!isOnline);
  
  const statusEl=$('#status-text');
  if(statusEl){
    if(s.status){
      statusEl.textContent=s.status;
    }else{
      statusEl.textContent=STATUS_LABELS[appState]||STATUS_LABELS.disconnected;
    }
  }
  updateReadouts();
  const b=s.battery;
  if(b){
    $('#battery-title').textContent=`${b.voltage.toFixed(2)} V`;
    $('#battery-percent').textContent=`${Math.round(b.percent)}% • ${b.cells}s`;
    $('#battery-fill').style.width=`${b.percent}%`;
    $('#battery-fill').style.background=b.low?'var(--red)':'var(--acid)';
  }else{
    $('#battery-title').textContent='—';
    $('#battery-percent').textContent='waiting';
    $('#battery-fill').style.width='0';
  }
  renderMotors(s.servos);
}

async function poll(){if(!bridgeReady)return;try{render(await api('poll'))}catch(e){}setTimeout(poll,250)}
let modelLoadPromise=null;
async function loadDefaultModel(){
  if(modelLoadPromise)return modelLoadPromise;
  modelLoadPromise=(async()=>{
    const statusEl=$('#model-status');

    // 1. Direct high-speed HTTP fetch (instant, ~20ms)
    for(const url of [
      '/model.stl',
      '/model',
      '/runtime/vehicle_model.stl',
      '/assets/Main%20Assembly%20V1%20(2).stl',
      '../runtime/vehicle_model.stl',
      '../assets/Main%20Assembly%20V1%20(2).stl'
    ]){
      try{
        const res=await fetch(url);
        if(res.ok){
          if(statusEl)statusEl.textContent='Loading mesh…';
          const buf=await res.arrayBuffer();
          if(window.rovModel){
            const result=window.rovModel.loadBuffer(buf,'Main Assembly V1 (2).stl');
            $('#load-model').textContent='Replace STL';
            console.log('[Direct Fetch] Model loaded:', result);
            return true;
          }
        }
      }catch(err){
        console.warn(`[Direct Fetch] ${url} failed:`, err);
      }
    }

    // 2. Python Bridge Chunked Stream (fallback)
    if(window.pywebview?.api?.get_saved_model_info){
      try{
        const info=await api('get_saved_model_info');
        if(info&&info.size){
          const total=info.size, chunk=262144;
          const bytes=new Uint8Array(total);
          let loaded=0;
          if(statusEl){
            statusEl.className='model-status';
            statusEl.textContent=`Streaming ${info.name} (0%)…`;
          }
          while(loaded<total){
            const reqSize=Math.min(chunk,total-loaded);
            const resp=await api('read_saved_model_chunk',loaded,reqSize);
            const part=atob(resp.data);
            for(let i=0;i<part.length;i++)bytes[loaded+i]=part.charCodeAt(i);
            loaded+=part.length;
            const pct=Math.round((loaded/total)*100);
            if(statusEl)statusEl.textContent=`Streaming ${pct}% (${(loaded/(1024*1024)).toFixed(1)}MB)…`;
            if(loaded%(chunk*4)===0)await new Promise(r=>setTimeout(r,0));
          }
          if(window.rovModel){
            const res=window.rovModel.loadBuffer(bytes.buffer,info.name);
            $('#load-model').textContent='Replace STL';
            return true;
          }
        }
      }catch(e){
        console.warn('[Bridge Stream] Failed:', e);
        if(statusEl){
          statusEl.className='model-status error';
          statusEl.textContent=`Bridge Error: ${e.message}`;
        }
      }
    }
    return false;
  })();
  return modelLoadPromise;
}

let booted=false;
async function boot(){
  if(booted||!window.pywebview?.api)return;
  booted=true;
  bridgeReady=true;
  try{
    const init=await api('initial_state');
    batteryConfig=init.battery_config;
    populatePorts(init.ports);
    fillBatteryForm();
    render(init.state);
    poll();
    // Populate the serial selector before starting the optional model load.
    // A large cached mesh must never delay an operator seeing USB COM ports.
    loadDefaultModel();
    setInterval(async()=>{
      if(appState==='disconnected'){
        try{populatePorts(await api('refresh_ports'))}catch(_){}
      }
    },2000);
  }catch(e){
    toast(`Python bridge: ${e.message}`,true);
  }
}
function waitForBridge(){
  if(window.pywebview?.api)boot();
  else setTimeout(waitForBridge,50);
}
addEventListener('pywebviewready',boot);
if(document.readyState==='loading'){
  addEventListener('DOMContentLoaded',()=>{loadDefaultModel();waitForBridge()});
}else{
  loadDefaultModel();
  waitForBridge();
}