const robots = new Map()

const KIND_NAMES = {
  DEVICE_KIND_AGV: 'agv',
  DEVICE_KIND_ARM: 'arm',
  DEVICE_KIND_BATTERY: 'battery',
  DEVICE_KIND_BIO_HEAD: 'bioHead',
  DEVICE_KIND_CAMERA: 'camera',
  DEVICE_KIND_CAN_BUS: 'canBus',
  DEVICE_KIND_DEX_HAND: 'dexHand',
  DEVICE_KIND_GRIPPER: 'gripper',
  DEVICE_KIND_MICROPHONE: 'microphone',
  DEVICE_KIND_MOTOR: 'motor',
  DEVICE_KIND_MOTOR_SYSTEM: 'motorSystem',
  DEVICE_KIND_ROBOT: 'robot',
  DEVICE_KIND_SPEAKER: 'speaker'
}

function groupDevices(devices = []) {
  return devices.reduce((groups, device) => {
    const kind = KIND_NAMES[device.kind] || 'other'
    if (!groups[kind]) groups[kind] = []
    groups[kind].push({
      deviceId: device.device_id,
      typeName: device.type_name || '',
      enabled: device.enabled !== false,
      state: device.manager_state || 'MANAGED_DEVICE_STATE_UNSPECIFIED',
      health: device.health || 'DEVICE_HEALTH_STATUS_UNSPECIFIED',
      hasError: Boolean(device.has_error),
      errorMessage: device.error_message || ''
    })
    return groups
  }, {})
}

function endpoint(peer, grpcEndpoint = {}) {
  return peer?.ip && grpcEndpoint.port ? `${peer.ip}:${grpcEndpoint.port}` : ''
}

export function consumeQuicEvent(event) {
  if (event?.event !== 'control_message') return
  const payload = event.payload || {}

  if (event.payload_type === 'node_register_request') {
    const node = payload.node || {}
    const robotId = node.robot_id || node.node_id
    if (!robotId) return
    const previous = robots.get(robotId) || {}
    robots.set(robotId, {
      ...previous,
      robotId,
      nodeId: node.node_id || previous.nodeId || '',
      ip: endpoint(event.peer, node.grpc_endpoint) || previous.ip || '',
      peerIp: event.peer?.ip || previous.peerIp || '',
      grpcEndpoint: node.grpc_endpoint || previous.grpcEndpoint || {},
      devices: previous.devices || {},
      online: true,
      lastSeenAt: new Date().toISOString()
    })
  }

  if (event.payload_type === 'node_heartbeat') {
    const robotId = payload.robot_id || payload.node_id
    if (!robotId) return
    const previous = robots.get(robotId) || {}
    robots.set(robotId, {
      ...previous,
      robotId,
      nodeId: payload.node_id || previous.nodeId || '',
      ip: endpoint(event.peer, payload.grpc_endpoint) || previous.ip || '',
      peerIp: event.peer?.ip || previous.peerIp || '',
      grpcEndpoint: payload.grpc_endpoint || previous.grpcEndpoint || {},
      devices: groupDevices(payload.device_manager?.devices),
      online: true,
      heartbeatSequence: payload.sequence || '0',
      lastSeenAt: new Date().toISOString()
    })
  }
}

export function listRobots() {
  return [...robots.values()].sort((a, b) => a.robotId.localeCompare(b.robotId))
}

export function getRobotAddress(robotId) {
  if (!robotId) return ''
  return robots.get(robotId)?.ip || ''
}

export function getRobotDeviceId(robotId, kind) {
  const devices = robots.get(robotId)?.devices?.[kind] || []
  return (devices.find(device => device.enabled) || devices[0])?.deviceId || ''
}