"""Motion endpoints — arm actions, replay management."""

from __future__ import annotations

import asyncio

from fastapi import APIRouter, HTTPException
from pydantic import BaseModel

router = APIRouter()


@router.get("/status")
async def motion_status():
    from Project.Sanad.main import arm
    return arm.status() if arm else {"error": "Arm not attached"}


@router.get("/actions")
async def list_actions():
    from Project.Sanad.main import arm
    return {"actions": arm.list_actions() if arm else []}


class TriggerPayload(BaseModel):
    action_id: int | None = None
    action_name: str | None = None
    speed: float = 1.0


@router.post("/trigger")
async def trigger_action(payload: TriggerPayload):
    from Project.Sanad.main import arm
    if arm is None:
        raise HTTPException(503, "Arm controller not attached.")

    speed = max(0.1, min(payload.speed, 5.0))

    # NOTE: TOCTOU on arm.is_busy is unavoidable from the route layer.
    # The internal arm controller has its own _lock + _is_busy guard inside
    # _execute() that returns silently if busy. We rely on that.
    if payload.action_id is not None:
        try:
            await asyncio.to_thread(arm.trigger_by_id, payload.action_id, speed)
        except KeyError as exc:
            raise HTTPException(404, str(exc))
        return {"ok": True, "action_id": payload.action_id, "speed": speed}
    elif payload.action_name:
        try:
            await asyncio.to_thread(arm.trigger_by_name, payload.action_name, speed)
        except KeyError as exc:
            raise HTTPException(404, str(exc))
        return {"ok": True, "action_name": payload.action_name, "speed": speed}
    else:
        raise HTTPException(400, "Provide action_id or action_name.")


@router.post("/cancel")
async def cancel_motion():
    from Project.Sanad.main import arm
    if arm is None:
        raise HTTPException(503, "Arm controller not attached.")
    arm.cancel()
    return {"ok": True, "cancelled": True}


@router.post("/gestural-speaking")
async def toggle_gestural(enabled: bool = True):
    from Project.Sanad.main import brain
    brain.set_gestural_speaking(enabled)
    return {"gestural_speaking": brain.gestural_speaking}