import BLE from './ble.js';
import UI from './ui.js';
import IK from './kinematics.js';
import Settings from './settings.js';
import Motion from './motion.js';

let isRunning = false;

function delayMs(ms) {
  return new Promise(resolve => setTimeout(resolve, ms));
}

export default {
  get isRunning() { return isRunning; },
  stop() { isRunning = false; },

  async run(sequence, spotsData, currentSteps1, currentSteps2, mode, onStepComplete) {
    if (isRunning) {
      UI.log('A sequence is already running.', 'warn');
      return false;
    }

    isRunning = true;
    UI.log(`Running sequence: ${sequence.name}`, 'info');

    let steps1 = currentSteps1;
    let steps2 = currentSteps2;

    for (let i = 0; i < sequence.steps.length; i++) {
      if (!isRunning) {
        UI.log('Sequence stopped.', 'info');
        break;
      }

      const step = sequence.steps[i];
      let targetX, targetY, label;

      if (step.type === 'spot') {
        const spot = spotsData.find(s => s.id === step.id);
        if (!spot) {
          UI.log(`Sequence error: Spot '${step.id}' not found. Skipping.`, 'error');
          continue;
        }
        targetX = spot.x;
        targetY = spot.y;
        label = spot.label || spot.id;
      } else if (step.type === 'xy') {
        targetX = step.x;
        targetY = step.y;
        label = `(${targetX}, ${targetY})`;
      } else {
        UI.log(`Unknown step type: ${step.type}`, 'error');
        continue;
      }

      UI.log(`Seq step: ${label}`, 'info');

      const success = await Motion.goto(targetX, targetY, mode || 'direct');
      if (!success) {
         isRunning = false;
         return false;
      }

      if (!BLE.isConnected()) {
        const st = Motion.getSteps();
        steps1 = st.steps1;
        steps2 = st.steps2;
        if (onStepComplete) {
          onStepComplete(steps1, steps2);
        }
      }

      // Wait for delay
      const waitTime = typeof step.delay === 'number' ? step.delay : Settings.delay;
      await delayMs(waitTime);
    }

    isRunning = false;
    UI.log(`Sequence completed.`, 'success');
    return true;
  }
};