JackBot/gui/MainWindow.py

"""
MainWindow.py - Master Dashboard with Dynamic Input Selection
"""
import random
import time
import dearpygui.dearpygui as dpg
from config import cfg, BackendType

# Input State Tracking
input_config = {
    "source": "Gamepad",  # Options: "Gamepad", "GUI Sliders", "Random Walk"
    "manual_vx": 0.0,
    "manual_vy": 0.0,
    "manual_omega": 0.0,
    "random_interval": 2.0,  # Change random vector every N seconds
    "last_random_time": 0.0,
    "random_vx": 0.0,
    "random_vy": 0.0,
    "random_omega": 0.0,
}


def create_parameter_gui(on_start_callback=None, on_stop_callback=None):
    dpg.create_context()
    dpg.create_viewport(title="JackBot Master Control Deck", width=460, height=800)

    is_running = {"value": False}

    def toggle_start(sender, app_data, user_data):
        is_running["value"] = not is_running["value"]
        if is_running["value"]:
            dpg.configure_item("start_btn", label="STOP ROBOT")
            dpg.configure_item("status_text", default_value="Status: RUNNING", color=(0, 255, 0))
            dpg.configure_item("backend_combo", enabled=False)
            if on_start_callback:
                on_start_callback()
        else:
            dpg.configure_item("start_btn", label="START ROBOT")
            dpg.configure_item("status_text", default_value="Status: STOPPED", color=(255, 100, 100))
            dpg.configure_item("backend_combo", enabled=True)
            if on_stop_callback:
                on_stop_callback()

    with dpg.window(label="Robot Control & Telemetry Deck", width=440, height=770, pos=(5, 5)):
        
        # --- Execution Control ---
        dpg.add_text("Control State", color=(0, 200, 255))
        dpg.add_text("Status: STOPPED", tag="status_text", color=(255, 100, 100))
        dpg.add_button(
            label="START ROBOT", 
            tag="start_btn", 
            width=-1, 
            height=40, 
            callback=toggle_start
        )
        dpg.add_separator()

        # --- Input Source Switcher ---
        dpg.add_text("Input Controller Source", color=(0, 200, 255))
        dpg.add_combo(
            tag="input_source_combo",
            label="Input Source",
            items=["Gamepad", "GUI Sliders", "Random Walk"],
            default_value=input_config["source"],
            callback=lambda s, d: input_config.update({"source": d})
        )

        # Manual Sliders (Active when GUI Sliders selected)
        dpg.add_slider_float(
            label="Vx (Fwd/Bwd)",
            default_value=0.0, min_value=-1.0, max_value=1.0,
            callback=lambda s, d: input_config.update({"manual_vx": d})
        )
        dpg.add_slider_float(
            label="Vy (Strafe)",
            default_value=0.0, min_value=-1.0, max_value=1.0,
            callback=lambda s, d: input_config.update({"manual_vy": d})
        )
        dpg.add_slider_float(
            label="Omega (Turn)",
            default_value=0.0, min_value=-1.0, max_value=1.0,
            callback=lambda s, d: input_config.update({"manual_omega": d})
        )
        dpg.add_separator()

        # --- Active Command Readouts ---
        dpg.add_text("Active Command Output", color=(0, 200, 255))
        dpg.add_text("Joysticks Connected: 0", tag="txt_joy_count")
        dpg.add_text("Motion State: IDLE", tag="txt_motion_state", color=(200, 200, 200))
        dpg.add_text("Active Vx   :  0.00", tag="txt_vx")
        dpg.add_text("Active Vy   :  0.00", tag="txt_vy")
        dpg.add_text("Active Omega:  0.00", tag="txt_omega")
        dpg.add_separator()

        # --- Backend Selection ---
        dpg.add_text("Backend Selection", color=(0, 200, 255))
        dpg.add_combo(
            tag="backend_combo",
            label="Target Backend",
            items=[e.value for e in BackendType],
            default_value=cfg.backend.value,
            callback=lambda sender, data: setattr(cfg, 'backend', BackendType(data))
        )
        dpg.add_separator()

        # --- Kinematics Adjustments ---
        dpg.add_text("Gait & Kinematics", color=(0, 200, 255))
        dpg.add_slider_float(
            label="Step Height (m)",
            default_value=cfg.step_height,
            min_value=0.01, max_value=0.10, format="%.3f m",
            callback=lambda sender, data: setattr(cfg, 'step_height', data)
        )
        dpg.add_slider_float(
            label="Step Length (m)",
            default_value=cfg.step_length,
            min_value=0.01, max_value=0.10, format="%.3f m",
            callback=lambda sender, data: setattr(cfg, 'step_length', data)
        )
        dpg.add_separator()

        # --- Hardware Comms ---
        dpg.add_text("Hardware Communications", color=(0, 200, 255))
        dpg.add_input_text(label="ESP32 IP", default_value=cfg.esp32_ip, callback=lambda s, d: setattr(cfg, 'esp32_ip', d))
        dpg.add_input_text(label="Serial Port", default_value=cfg.port, callback=lambda s, d: setattr(cfg, 'port', d))

    dpg.setup_dearpygui()
    dpg.show_viewport()


def resolve_active_command(gamepad_cmd: dict | None) -> dict:
    """Selects motion vector based on current active source in GUI."""
    source = input_config["source"]
    now = time.time()

    if source == "GUI Sliders":
        vx = input_config["manual_vx"]
        vy = input_config["manual_vy"]
        omega = input_config["manual_omega"]
        joy_count = gamepad_cmd.get("joysticks_count", 0) if gamepad_cmd else 0

    elif source == "Random Walk":
        # Generate new random direction vector periodically
        if now - input_config["last_random_time"] > input_config["random_interval"]:
            input_config["random_vx"] = round(random.uniform(-1.0, 1.0), 2)
            input_config["random_vy"] = round(random.uniform(-1.0, 1.0), 2)
            input_config["random_omega"] = round(random.uniform(-1.0, 1.0), 2)
            input_config["last_random_time"] = now

        vx = input_config["random_vx"]
        vy = input_config["random_vy"]
        omega = input_config["random_omega"]
        joy_count = gamepad_cmd.get("joysticks_count", 0) if gamepad_cmd else 0

    else:  # "Gamepad"
        if gamepad_cmd:
            vx, vy, omega = gamepad_cmd.get("dirmov", [0.0, 0.0, 0.0])
            joy_count = gamepad_cmd.get("joysticks_count", 0)
        else:
            vx, vy, omega, joy_count = 0.0, 0.0, 0.0, 0

    state = "walking" if (vx != 0.0 or vy != 0.0 or omega != 0.0) else "idle"

    # Update GUI Labels
    if dpg.is_dearpygui_running():
        dpg.set_value("txt_joy_count", f"Joysticks Connected: {joy_count}")
        dpg.set_value("txt_motion_state", f"Motion State: {state.upper()} ({source})")
        dpg.set_value("txt_vx", f"Active Vx   : {vx:>6.2f}")
        dpg.set_value("txt_vy", f"Active Vy   : {vy:>6.2f}")
        dpg.set_value("txt_omega", f"Active Omega: {omega:>6.2f}")

    return {
        "state": state,
        "dirmov": [vx, vy, omega]
    }


def render_gui_frame():
    if dpg.is_dearpygui_running():
        dpg.render_dearpygui_frame()


def stop_gui():
    dpg.destroy_context()