#!/usr/bin/env node
/**
 * WL-PRO 轮组机器人 遥控脚本（无外部依赖，Node >= 22 自带 WebSocket）
 *
 * 控制通道与网页一致的协议：ws://<host>:81/  发送 JSON 状态帧：
 *   {dir, mode, roll, height, linear, angular, stable, joy_x, joy_y}
 *   dir: stop | forward | back | left | right | jump
 *
 * 用法示例：
 *   node robot-ctl.js --host 203.0.113.10 --port 81 stop
 *   node robot-ctl.js --host 192.168.4.1 forward --ms 800
 *   node robot-ctl.js jump                 # 原地跳一下
 *   node robot-ctl.js joy 0 100 --ms 1200  # 摇杆：x=0 y=100 持续 1.2s
 *   node robot-ctl.js height 60            # 站高 60mm（32~85）
 *   node robot-ctl.js roll 10              # 横滚 10°（-30~30）
 *   node robot-ctl.js linear 100 --ms 500  # 线速度 100mm/s
 *   node robot-ctl.js seq "height 50; forward 800; stop"
 *   node robot-ctl.js probe                # 只连接并打印收到的帧
 *   node robot-ctl.js raw '{"dir":"jump"}'
 *
 * 通用参数：--host <ip>  --port <p, 默认81>  --timeout <ms>  --rate <ms 推帧间隔, 默认150>  --wet
 *   --wet：允许真正发出动作（不写它也能动，仅为显式确认用法保留）
 */

const DEFAULT_STATE = {
  roll: 0,
  height: 38,
  linear: 0,
  angular: 0,
  stable: 0,
  mode: 'basic',
  dir: 'stop',
  joy_x: 0,
  joy_y: 0,
};

function parseArgs(argv) {
  const opts = { host: '192.168.4.1', port: 81, timeout: 6000, rate: 150, ms: null, wet: false };
  const tokens = [];
  for (let i = 0; i < argv.length; i++) {
    const a = argv[i];
    if (a === '--host') opts.host = argv[++i];
    else if (a === '--port') opts.port = Number(argv[++i]);
    else if (a === '--timeout') opts.timeout = Number(argv[++i]);
    else if (a === '--rate') opts.rate = Number(argv[++i]);
    else if (a === '--ms') opts.ms = Number(argv[++i]);
    else if (a === '--wet') opts.wet = true;
    else tokens.push(a);
  }
  opts.cmd = tokens[0];
  opts.args = tokens.slice(1);
  return opts;
}

class Robot {
  constructor(opts) {
    this.opts = opts;
    this.state = { ...DEFAULT_STATE };
    this.ws = null;
    this.log = (...m) => console.log('[robot]', ...m);
  }

  url() {
    return `ws://${this.opts.host}:${this.opts.port}/`;
  }

  connect() {
    if (typeof WebSocket === 'undefined') {
      return Promise.reject(new Error('当前 Node 无全局 WebSocket，需要 Node >= 22'));
    }
    return new Promise((resolve, reject) => {
      const ws = new WebSocket(this.url());
      this.ws = ws;
      const timer = setTimeout(() => {
        try { ws.close(); } catch {}
        reject(new Error(`连接超时 ${this.url()}`));
      }, this.opts.timeout);

      ws.onopen = () => {
        clearTimeout(timer);
        this.log('已连接', this.url());
        resolve();
      };
      ws.onerror = (e) => {
        clearTimeout(timer);
        reject(new Error(`连接失败 ${this.url()} (${(e && (e.message || e.type)) || 'error'})`));
      };
      ws.onclose = (e) => {
        this.log('连接关闭', e?.code ?? '', e?.reason ?? '');
      };
      ws.onmessage = (m) => {
        const s = typeof m.data === 'string' ? m.data : '[binary]';
        this.log('收到:', s.slice(0, 400));
      };
    });
  }

  send(extra = {}) {
    if (!this.ws || this.ws.readyState !== 1) throw new Error('未连接');
    Object.assign(this.state, extra);
    const frame = {
      dir: this.state.dir,
      mode: this.state.mode,
      roll: this.state.roll,
      height: this.state.height,
      linear: this.state.linear,
      angular: this.state.angular,
      stable: this.state.stable,
      joy_x: this.state.joy_x,
      joy_y: this.state.joy_y,
    };
    this.ws.send(JSON.stringify(frame));
    return frame;
  }

  sleep(ms) { return new Promise((r) => setTimeout(r, ms)); }

  /** 推一段时间状态帧（用于持续动作/摇杆） */
  async stream(extra, ms, rate) {
    const step = Math.max(30, rate || this.opts.rate);
    const t0 = Date.now();
    this.send(extra);
    while (Date.now() - t0 < ms) {
      await this.sleep(Math.min(step, Math.max(0, ms - (Date.now() - t0))));
      if (Date.now() - t0 >= ms) break;
      this.send(extra);
    }
  }

  stop() {
    if (this.ws && this.ws.readyState === 1) {
      this.send({ dir: 'stop', joy_x: 0, joy_y: 0 });
    }
  }

  close() {
    try { this.stop(); } catch {}
    try { if (this.ws) this.ws.close(); } catch {}
  }
}

const DIRS = new Set(['forward', 'back', 'left', 'right', 'jump']);

async function runOne(robot, cmd, args, opts) {
  const num = (v, d) => (v === undefined || v === '' ? d : Number(v));
  switch (cmd) {
    case 'stop':
      robot.send({ dir: 'stop', joy_x: 0, joy_y: 0 });
      robot.log('停止');
      return;
    case 'probe': {
      const ms = Number(args[0] ?? 3000);
      robot.send({ dir: 'stop' });
      robot.log(`已同步状态，监听 ${ms}ms 内机器人回传…`);
      await robot.sleep(ms);
      return;
    }
    case 'raw': {
      const json = args.join(' ');
      const obj = JSON.parse(json);
      const frame = robot.send(obj);
      robot.log('已发:', JSON.stringify(frame));
      return;
    }
    case 'height':
      robot.send({ height: num(args[0], 38) });
      robot.log(`站高 = ${robot.state.height}mm`);
      return;
    case 'roll':
      robot.send({ roll: num(args[0], 0) });
      robot.log(`横滚 = ${robot.state.roll}°`);
      return;
    case 'linear':
    case 'angular': {
      const v = num(args[0], 0);
      const ms = opts.ms ?? num(args[1], 800);
      await robot.stream({ [cmd]: v }, ms, opts.rate);
      robot.send({ [cmd]: 0 });
      robot.log(`${cmd} = ${v} 持续 ${ms}ms 后归零`);
      return;
    }
    case 'stable':
      robot.send({ stable: num(args[0], 0) ? 1 : 0 });
      robot.log(`stable = ${robot.state.stable}`);
      return;
    case 'joy': {
      const x = num(args[0], 0), y = num(args[1], 0);
      const ms = opts.ms ?? num(args[2], 800);
      await robot.stream({ joy_x: x, joy_y: y }, ms, opts.rate);
      robot.send({ joy_x: 0, joy_y: 0, dir: 'stop' });
      robot.log(`摇杆 x=${x} y=${y} 持续 ${ms}ms 后回中`);
      return;
    }
    case 'seq': {
      const script = args.join(' ');
      for (const part of script.split(';').map((s) => s.trim()).filter(Boolean)) {
        const seg = part.split(/\s+/);
        await runOne(robot, seg[0], seg.slice(1), opts);
        await robot.sleep(120);
      }
      return;
    }
    default: {
      if (DIRS.has(cmd)) {
        const ms = opts.ms ?? (cmd === 'jump' ? 300 : 800);
        await robot.stream({ dir: cmd }, ms, opts.rate);
        robot.send({ dir: 'stop' });
        robot.log(`${cmd} 持续 ${ms}ms 后停止`);
        return;
      }
      throw new Error(`未知命令: ${cmd}（可用: stop forward back left right jump joy height roll linear angular stable seq raw probe）`);
    }
  }
}

(async () => {
  const opts = parseArgs(process.argv.slice(2));
  if (!opts.cmd) {
    console.log('用法: node robot-ctl.js [--host IP] [--port 81] [--ms N] <命令> [参数…]');
    console.log('命令: stop | forward | back | left | right | jump | joy <x> <y> [ms] |');
    console.log('      height <mm> | roll <deg> | linear <mm/s> [ms] | angular <deg/s> [ms] |');
    console.log('      stable <0|1> | seq "<cmd…>; <cmd…>" | raw <json> | probe [ms]');
    process.exit(1);
  }

  const robot = new Robot(opts);
  let code = 0;
  const cleanup = () => { try { robot.close(); } catch {} };
  process.on('SIGINT', () => { cleanup(); process.exit(130); });
  process.on('uncaughtException', (e) => { console.error('[robot] 错误:', e.message); cleanup(); process.exit(1); });

  try {
    await robot.connect();
    await runOne(robot, opts.cmd, opts.args, opts);
    await robot.sleep(120);
  } catch (e) {
    console.error('[robot] 失败:', e.message);
    code = 1;
  } finally {
    cleanup();
    await new Promise((r) => setTimeout(r, 150));
    process.exit(code);
  }
})();