//
// Copyright 2026 James Pace
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
//
// This Source Code Form is "Incompatible With Secondary Licenses", as
// defined by the Mozilla Public License, v. 2.0.
//
import { AppNav, Footer } from "./AppNav.tsx";
import { Container, Row, Col, Image, Card } from "react-bootstrap";
import { atom, useAtomValue } from "jotai";
import { atomWithQuery } from "jotai-tanstack-query";

const costmapImageQuery = async () => {
  const resp = await fetch("api/costmap_image");
  if (!resp.ok) {
    throw new Error("Network response was not ok");
  }
  const blob = await resp.blob();
  return URL.createObjectURL(blob);
};
const costmapImageQueryAtom = atomWithQuery(() => ({
  queryKey: ["costmap_image"],
  queryFn: costmapImageQuery,
  refetchInterval: 1000, // 1s
}));
const costmapImageAtom = atom((get) => {
  const response = get(costmapImageQueryAtom);
  if (response.isPending) {
    return <p>"Loading..."</p>;
  }
  if (response.isError) {
    return <p>"Error loading!"</p>;
  }
  const costmapStyle = {
    minHeight: "65svb",
  };
  return <Image src={response.data} fluid style={costmapStyle} />;
});

const statusStringQuery = async () => {
  const resp = await fetch("api/status");
  if (!resp.ok) {
    throw new Error("Network response was not ok");
  }
  return resp.json();
};
const statusStringQueryAtom = atomWithQuery(() => ({
  queryKey: ["status_string"],
  queryFn: statusStringQuery,
  refetchInterval: 500, // 0.5s
}));
const statusStringAtom = atom((get) => {
  const response = get(statusStringQueryAtom);
  if (response.isPending || response.isError || !response.data.status) {
    return "N/A";
  }
  return response.data.message;
});

const latLongQuery = async () => {
  const resp = await fetch("api/position");
  if (!resp.ok) {
    throw new Error("Network response was not ok");
  }
  return resp.json();
};
const latLongQueryAtom = atomWithQuery(() => ({
  queryKey: ["latlong"],
  queryFn: latLongQuery,
  refetchInterval: 500, // 0.5s
}));
const latLongAtom = atom((get) => {
  const response = get(latLongQueryAtom);
  if (response.isPending || response.isError || !response.data.status) {
    return "N/A";
  }
  return `(${response.data.latitude}, ${response.data.longitude})`;
});

export function Autonomy() {
  const costmapImage = useAtomValue(costmapImageAtom);
  const statusString = useAtomValue(statusStringAtom);
  const latLong = useAtomValue(latLongAtom);

  return (
    <div>
      <AppNav />
      <Container className="vert-padded">
        <Card className="padded">
          <Row>
            <Col lg={8}>{costmapImage}</Col>
            <Col lg={4}>
              <p>Status:</p>
              <pre>{statusString}</pre>
              <p>Latitude, Longitude:</p>
              <pre>{latLong}</pre>
            </Col>
          </Row>
        </Card>
      </Container>
      <Footer />
    </div>
  );
}