const roles = ['agent', 'vehicle', 'slam', 'map', 'localization', 'planning', 'control', 'camera'] as const

export function yahboomSimulation(folderName: string | null | undefined, rosParams: string): boolean {
  return Boolean(yahboomRuntimeImage(folderName))
    && !/yahboom-(agent|camera)\]/.test(folderName ?? '')
    && /(?:^|\s)sim_mode:=true(?:\s|$)/.test(rosParams)
}

type RuntimeArtifact = {
  image?: string | null
  url?: string | null
  fileName?: string | null
  checksumSha256?: string | null
  required?: boolean | null
}

const artifactRoot = 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/runtime-images/nav2/yahboom/arm64'
const artifacts: RuntimeArtifact[] = [
  ['future-nav2:humble-yahboom', 'future-nav2-humble-yahboom.tar.zst', 'b2f168c45b961ab96badeeb7df68d1c997996c75dcb5e0cc677b0b6669b1ffd2'],
  ['future-nav2:humble-yahboom-agent', 'future-nav2-humble-yahboom-agent.tar.zst', 'e30404506c320af1d53c8733177eaf27997dcb2864019b8fcc6888874f02d191'],
].map(([image, fileName, checksumSha256]) => ({
  image, fileName, checksumSha256, required: true,
  url: `${artifactRoot}/${checksumSha256.slice(0, 16)}/${fileName}`,
}))

export function yahboomRuntimeArtifacts(
  folderName: string,
  runtimeImage: string | null,
  configured?: RuntimeArtifact[] | null,
): RuntimeArtifact[] | null | undefined {
  if (!yahboomRuntimeImage(folderName)) return configured
  const selected = configured?.find((item) => item.image?.trim() === runtimeImage && item.url?.trim())
    ?? artifacts.find((item) => item.image === runtimeImage)
  // Yahboom must not download unrelated Jetson images from an existing profile.
  return selected ? [selected] : []
}

export function yahboomRuntimeImage(folderName?: string | null): string | null {
  const role = folderName?.match(/^\[lms-nav2-yahboom-([a-z]+)\]yahboom_\1_v[^/]+_ws$/)?.[1]
  if (!roles.some((value) => value === role)) return null
  return role === 'agent' ? 'future-nav2:humble-yahboom-agent' : 'future-nav2:humble-yahboom'
}

export function yahboomModuleCases(build = false): string[] {
  return roles.map((role) => (
    `  "[lms-nav2-yahboom-${role}]yahboom_${role}_v"*_ws) ${build ? `TARGET=yahboom_${role}` : `PACKAGE=yahboom_${role}; LAUNCH=${role}.launch.py`} ;;`
  ))
}

// Keep hardware exposure limited to the two hardware-facing Yahboom templates.
export function yahboomDevicePreflight(): string[] {
  return [
    'YAHBOOM_DEVICE=""',
    'case "$MODULE_FOLDER" in',
    '  "[lms-nav2-yahboom-agent]yahboom_agent_v"*_ws)',
    '    YAHBOOM_DEVICE=/dev/ttyUSB0',
    '    for arg in "$@"; do case "$arg" in serial_device:=*) YAHBOOM_DEVICE=${arg#serial_device:=} ;; esac; done',
    '    case "$YAHBOOM_DEVICE" in /dev/ttyUSB*|/dev/ttyACM*|/dev/serial/by-id/*) ;; *) echo "Invalid Yahboom serial device" >&2; exit 64 ;; esac',
    '    ;;',
    '  "[lms-nav2-yahboom-camera]yahboom_camera_v"*_ws)',
    '    YAHBOOM_DEVICE=/dev/video0',
    '    for arg in "$@"; do case "$arg" in video_device:=*) YAHBOOM_DEVICE=${arg#video_device:=} ;; esac; done',
    '    [[ "$YAHBOOM_DEVICE" =~ ^/dev/video[0-9]+$ ]] || { echo "Invalid Yahboom camera device" >&2; exit 64; }',
    '    ;;',
    'esac',
    'if [ -n "$YAHBOOM_DEVICE" ]; then',
    '  [[ "$YAHBOOM_DEVICE" != *".."* ]] && [ -c "$YAHBOOM_DEVICE" ] || { echo "Yahboom device not found: $YAHBOOM_DEVICE" >&2; exit 1; }',
    'fi',
  ]
}