stack-chan

import type { BorrowedAudioBuffer, OwnedAudioBuffer } from 'audio-buffer'
import type { RobotUI, StackchanContext } from 'capabilities'
import type { Emotion, FaceThemeKey } from 'face-state'
import { type MotionCompletion, MotionController, type MotionControllerConstructorParam } from 'motion-controller'
import { type RuntimeAudioConstructorParam, StackchanRuntimeAudio } from 'runtime-audio'
import { type RuntimeCameraConstructorParam, StackchanRuntimeCamera } from 'runtime-camera'
import { type RuntimeInputConstructorParam, StackchanRuntimeInput } from 'runtime-input'
import { type RuntimeLightingConstructorParam, StackchanRuntimeLighting } from 'runtime-lighting'
import { StackchanRuntimeUI } from 'runtime-ui'
import { generateDeviceSeed, type Maybe, type Pose, type Vector3 } from 'stackchan-util'
import Timer from 'timer'

const INTERVAL_FACE = 1000 / 30

type RuntimeContextConstructorParam = RuntimeAudioConstructorParam &
  RuntimeCameraConstructorParam &
  RuntimeInputConstructorParam &
  RuntimeLightingConstructorParam &
  MotionControllerConstructorParam & {
    ui: RobotUI
  }

function waitForMotion(start: (callback: MotionCompletion) => void): Promise<void> {
  return new Promise((resolve, reject) => {
    try {
      start((error) => {
        if (error != null) {
          reject(error)
        } else {
          resolve()
        }
      })
    } catch (error) {
      reject(error)
    }
  })
}

export class StackchanRuntimeContext {
  /**
   * App-owned runtime context that delegates each capability to a focused runtime.
   */
  #audioRuntime: StackchanRuntimeAudio
  #cameraRuntime: StackchanRuntimeCamera
  #inputRuntime: StackchanRuntimeInput
  #lightingRuntime: StackchanRuntimeLighting
  #motionController: MotionController
  #paused: boolean
  #uiRuntime: StackchanRuntimeUI
  #updateFaceHandler: Timer
  seed: number

  constructor(params: RuntimeContextConstructorParam) {
    this.seed = generateDeviceSeed()
    this.#paused = false
    this.#motionController = new MotionController(params, {
      isPaused: () => this.#paused,
    })
    this.#uiRuntime = new StackchanRuntimeUI(params.ui, {
      getContext: () => this as unknown as StackchanContext,
      getPose: () => this.#motionController.pose,
      getGazePoint: () => this.#motionController.gazePoint,
      isPaused: () => this.#paused,
    })
    this.#audioRuntime = new StackchanRuntimeAudio(params, {
      onMouthOpenChanged: (value) => this.#uiRuntime.setMouthOpen(value),
    })
    this.#inputRuntime = new StackchanRuntimeInput(params)
    this.#cameraRuntime = new StackchanRuntimeCamera(params)
    this.#lightingRuntime = new StackchanRuntimeLighting(params)
    this.#updateFaceHandler = Timer.repeat(this.updateFace.bind(this), INTERVAL_FACE)
    void this.#updateFaceHandler
  }

  /**
   * Set a TTS instance and register callbacks.
   *
   * @param tts - TTS class instance
   */
  useTTS(tts: RuntimeAudioConstructorParam['tts']) {
    this.#audioRuntime.useTTS(tts)
  }

  /**
   * Set a UI controller instance.
   *
   * @param ui - UI controller instance
   */
  useUI(ui: RobotUI) {
    this.#uiRuntime.useUI(ui)
  }

  /**
   * Set a driver instance and register callbacks.
   *
   * @param driver - Driver class instance
   */
  useDriver(driver: MotionControllerConstructorParam['driver']) {
    this.#motionController.useDriver(driver)
  }

  /**
   * get Buttons
   *
   * @returns Button instances
   */
  get button() {
    return this.#inputRuntime.button
  }

  /**
   * get Touch
   *
   * @returns Touch instances
   */
  get touch() {
    return this.#inputRuntime.touch
  }

  /**
   * get top touch panel
   *
   * @returns TouchPanel instance
   */
  get touchPanel() {
    return this.#inputRuntime.touchPanel
  }

  /**
   * get IMU sensor
   *
   * @returns IMU instance
   */
  get imu() {
    return this.#inputRuntime.imu
  }

  /**
   * get Pose
   *
   * @returns pose instances
   */
  get pose() {
    return this.#motionController.pose
  }

  /**
   * get Microphone
   *
   * @returns Microphone instance
   */
  get microphone() {
    return this.#audioRuntime.microphone
  }

  /**
   * get Camera
   *
   * @returns Camera instance
   */
  get camera() {
    return this.#cameraRuntime.camera
  }

  /**
   * get LED
   *
   * @returns Led instances
   */
  get led() {
    return this.#lightingRuntime.led
  }

  /**
   * let the robot say things
   *
   * @param text - the key or speech text itself to say
   * @returns the text when speech finishes, otherwise the reason why it fails.
   */
  async say(text: string, volume?: number): Promise<Maybe<string>> {
    return this.#audioRuntime.say(text, volume)
  }

  async record(durationMilliSec?: number): Promise<OwnedAudioBuffer> {
    return this.#audioRuntime.record(durationMilliSec)
  }

  /**
   * let the robot sound a tone
   * @param hz frequency of tone
   * @param duration duration (unit: millisecond)
   * @returns return when the playback of the tone is completed.
   */
  async tone(hz: number, duration: number, volume?: number): Promise<void> {
    return this.#audioRuntime.tone(hz, duration, volume)
  }

  async playAudio(buffer: BorrowedAudioBuffer): Promise<boolean> {
    return this.#audioRuntime.playAudio(buffer)
  }

  /**
   * Move the focus point of the robot.
   * When the robot looks somewhere, it moves its gaze or face direction
   * toward that point.
   * The function lookAt completes synchronously,
   * and the function does not know when to start or finish moving the gaze.
   *
   * @param position - the position of the point to look at
   */
  lookAt(position: Vector3) {
    this.#motionController.lookAt(position)
  }

  /**
   * Show balloon decorator
   *
   * @param text - the text on the balloon
   */
  showBalloon(
    text: string,
    option: {
      left?: number
      right?: number
      top?: number
      bottom?: number
      width?: number
      height?: number
    } = {
      right: 20,
      top: 10,
      width: 80,
    },
  ) {
    this.#uiRuntime.showBalloon(text, option)
  }

  /**
   * Hide balloon decorator
   */
  hideBalloon() {
    this.#uiRuntime.hideBalloon()
  }

  /**
   * Unregister the focus point.
   */
  lookAway() {
    this.#motionController.lookAway()
  }

  /**
   * Set the pose.
   *
   * @returns void when the robot start moving
   * @experimental
   */
  async setPose(pose: Pose, time?: number): Promise<void> {
    return waitForMotion((callback) => this.#motionController.setPose(pose, time, callback))
  }

  /**
   * Set the actuator torque.
   *
   * @returns void when the robot completes setting the torque
   */
  async setTorque(torque: boolean): Promise<void> {
    return waitForMotion((callback) => this.#motionController.setTorque(torque, callback))
  }

  /**
   * Set the color
   * @param{key} - 'primary' or 'secondary'
   * @param{r} - red value [0-255]
   * @param{g} - green value [0-255]
   * @param{b} - blue value [0-255]
   */
  setColor(key: FaceThemeKey, r: number, g: number, b: number): void {
    this.#uiRuntime.setColor(key, r, g, b)
  }

  /**
   * Set the emotion of the robot.
   * The emotion may (or may not) affect the way the robot moves
   * and its facial expressions.
   *
   * @param emotion - emotion
   */
  setEmotion(emotion: Emotion) {
    this.#uiRuntime.setEmotion(emotion)
  }

  setMouthOpen(value: number) {
    this.#uiRuntime.setMouthOpen(value)
  }

  get tts() {
    return this.#audioRuntime.tts
  }

  get ui(): RobotUI {
    return this.#uiRuntime.ui
  }

  get drawer() {
    return this.#uiRuntime.drawer
  }

  pause() {
    this.#paused = true
  }

  resume() {
    this.#paused = false
  }

  /**
   * Update the robot face.
   * Process the robot's emotion, pose, gaze point and so on
   * to modify the face state and pass it to RobotUI#update.
   */
  updateFace() {
    this.#uiRuntime.updateFace(INTERVAL_FACE)
  }

  /**
   * Update the robot pose.
   * Get the current pose from the Driver
   * and trigger move if necessary to see the gaze point.
   */
  updatePose(_id?: unknown): void {
    this.#motionController.updatePose(_id)
  }

  /**
   * Turns on an Led with the specified color and optional animation parameters.
   * @param ledName - The name identifier of the Led to control
   * @param r - Red color value (0-255)
   * @param g - Green color value (0-255)
   * @param b - Blue color value (0-255)
   * @param duration - Optional duration in milliseconds for the animation
   * @param index - Optional starting index for the Led animation
   * @param count - Optional number of LEDs to animate
   */
  lightOn(ledName: string, r: number, g: number, b: number, duration?: number, index?: number, count?: number) {
    this.#lightingRuntime.lightOn(ledName, r, g, b, duration, index, count)
  }

  /**
   * Turns off the specified Led.
   *
   * @param ledName - The name of the Led to turn off.
   * @param index - Optional index of the Led to turn off. If not provided, all LEDs of the specified name will be turned off.
   * @param count - Optional number of Led to turn off starting from the index. If not provided, all LEDs will be turned off.
   *
   * @remarks
   * This method checks if the Led with the given name exists before attempting to turn it off.
   */
  lightOff(ledName: string, index?: number, count?: number) {
    this.#lightingRuntime.lightOff(ledName, index, count)
  }

  /**
   * Blinks an Led with the specified color and interval.
   *
   * @param ledName - The name of the Led to blink.
   * @param r - The red component of the color (0-255).
   * @param g - The green component of the color (0-255).
   * @param b - The blue component of the color (0-255).
   * @param duration - The time in milliseconds between blinks.
   * @param index - Optional index to specify which Led to control if multiple LEDs are present.
   * @param count - Optional number of LEDs to blink. If not provided, it will affect all LEDs from the index to the end.
   */
  lightBlink(ledName: string, r: number, g: number, b: number, duration: number, index?: number, count?: number) {
    this.#lightingRuntime.lightBlink(ledName, r, g, b, duration, index, count)
  }

  /**
   * Displays a rainbow light effect on the specified Led.
   * @param ledName - The name of the Led to apply the rainbow effect to.
   * @param index - Optional starting index for the rainbow effect.
   * @param count - Optional number of Leds to apply the rainbow effect to.
   */
  lightRainbow(ledName: string, index?: number, count?: number) {
    this.#lightingRuntime.lightRainbow(ledName, index, count)
  }
}