import React from 'react';
import { StopCircle, Play, Square, AlertTriangle, ChevronsUp, ChevronsDown, Magnet, Radar, ArrowLeft, ArrowRight } from 'lucide-react';
import { AgvState, AgvMotionState, AgvRunConfig } from '../types';
import AgvManualControls from './AgvManualControls';
import AgvAutoRunControls from './AgvAutoRunControls';

interface AgvControlsProps {
  agvState: AgvState;
  setMotion: (state: AgvMotionState) => void;
  setLift: (val: number) => void;
  setRunConfig: (config: AgvRunConfig) => void;
  setError: (error: string | null) => void;
  onTurn180: (direction: 'LEFT' | 'RIGHT') => void;
  setMagnet: (isOn: boolean) => void;
  setLiftStatus: (status: 'IDLE' | 'UP' | 'DOWN') => void;
  setLidar: (isOn: boolean) => void;
}

const AgvControls: React.FC<AgvControlsProps> = ({ agvState, setMotion, setLift, setRunConfig, setError, onTurn180, setMagnet, setLiftStatus, setLidar }) => {
  const isRunning = agvState.motionState === AgvMotionState.RUNNING || agvState.motionState === AgvMotionState.MARK_STOPPING;
  const isError = agvState.error !== null;

  const updateRunConfig = (key: keyof AgvRunConfig, value: any) => {
    if (isError) return;
    setRunConfig({
      ...agvState.runConfig,
      [key]: value
    });
  };

  const toggleRun = () => {
    if (isError) return;

    if (isRunning) {
      setMotion(AgvMotionState.IDLE);
    } else {
      const isFwd = agvState.runConfig.direction === 'FWD';
      const hasLine = isFwd ? agvState.sensorLineFront : agvState.sensorLineRear;

      if (!hasLine) {
        setError('LINE_OUT');
        return;
      }
      setMotion(AgvMotionState.RUNNING);
    }
  };

  const handleMarkStop = () => {
    if (agvState.motionState === AgvMotionState.RUNNING) {
      setRunConfig({
        ...agvState.runConfig,
        speedLevel: 'L'
      });
      setMotion(AgvMotionState.MARK_STOPPING);
    }
  };

  const resetError = () => {
    setError(null);
  };

  const handleLiftSliderChange = (e: React.ChangeEvent<HTMLInputElement>) => {
    if (agvState.liftStatus !== 'IDLE') {
      setLiftStatus('IDLE');
    }
    setLift(parseInt(e.target.value));
  };

  return (
    <div className="flex flex-col gap-4 p-3 bg-gray-900 border-b border-gray-700">

      {/* Error Overlay */}
      {isError && (
        <div className="bg-red-900/80 border border-red-600 p-3 rounded text-center animate-pulse">
          <div className="text-red-100 font-bold text-sm flex items-center justify-center gap-2 mb-2">
            <AlertTriangle size={18} />
            {agvState.error}
          </div>
          <button onClick={resetError} className="bg-red-600 hover:bg-red-500 text-white text-xs font-bold px-3 py-1 rounded shadow-sm">
            RESET ERROR
          </button>
        </div>
      )}

      {/* Manual Operation (분리된 콤포넌트) */}
      <AgvManualControls
        agvState={agvState}
        setMotion={setMotion}
        updateRunConfig={updateRunConfig}
        onTurn180={onTurn180}
        handleMarkStop={handleMarkStop}
        isRunning={isRunning}
        isError={isError}
      />

      {/* Lift & Magnet */}
      <div className={`px-1 ${isError ? 'opacity-50 pointer-events-none' : ''}`}>
        <div className="flex justify-between text-xs text-gray-400 mb-1">
          <span className="flex items-center gap-1"><ChevronsUp size={12} /> Lift Height</span>
          <span className="font-mono text-white">{Math.round(agvState.liftHeight)}%</span>
        </div>

        <div className="flex items-center gap-2 mb-2">
          <button
            onClick={() => setLiftStatus('DOWN')}
            disabled={agvState.liftHeight === 0}
            className={`p-1.5 rounded disabled:opacity-30 transition-colors ${agvState.liftStatus === 'DOWN'
                ? 'bg-blue-600 text-white shadow-[0_0_10px_rgba(37,99,235,0.5)]'
                : 'bg-gray-700 hover:bg-gray-600 text-gray-300'
              }`}
            title="Lower Lift"
          >
            <ChevronsDown size={16} />
          </button>

          <input
            type="range"
            min="0"
            max="100"
            value={agvState.liftHeight}
            onChange={handleLiftSliderChange}
            className="flex-1 h-1.5 bg-gray-700 rounded-lg appearance-none cursor-pointer accent-blue-500"
          />

          <button
            onClick={() => setLiftStatus('UP')}
            disabled={agvState.liftHeight === 100}
            className={`p-1.5 rounded disabled:opacity-30 transition-colors ${agvState.liftStatus === 'UP'
                ? 'bg-blue-600 text-white shadow-[0_0_10px_rgba(37,99,235,0.5)]'
                : 'bg-gray-700 hover:bg-gray-600 text-gray-300'
              }`}
            title="Raise Lift"
          >
            <ChevronsUp size={16} />
          </button>
        </div>

        <button
          onClick={() => setMagnet(!agvState.magnetOn)}
          className={`w-full py-1.5 text-xs rounded border flex items-center justify-center gap-2 transition-colors ${agvState.magnetOn
              ? 'bg-orange-600 text-white border-orange-500'
              : 'bg-gray-800 text-gray-400 border-gray-600 hover:bg-gray-700'
            }`}
        >
          <Magnet size={14} className={agvState.magnetOn ? "animate-pulse" : ""} />
          MAGNET {agvState.magnetOn ? 'ON' : 'OFF'}
        </button>
      </div>

      <div className="h-px bg-gray-800" />

      {/* Auto Run Controls */}
      {/* Auto Run Controls (분리된 콤포넌트) */}
      <AgvAutoRunControls
        agvState={agvState}
        updateRunConfig={updateRunConfig}
        toggleRun={toggleRun}
        isRunning={isRunning}
        isError={isError}
        setLidar={setLidar}
      />
    </div>
  );
};

export default AgvControls;