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"use client"
import { useState, useEffect, useMemo } from "react"
import { Power, PowerOff, Keyboard } from "lucide-react"
import { Button } from "@/components/ui/button"
import { Card } from "@/components/ui/card"
import { Badge } from "@/components/ui/badge"
import { Slider } from "@/components/ui/slider"
import { Tooltip, TooltipContent, TooltipProvider, TooltipTrigger } from "@/components/ui/tooltip"
import { cn } from "@/lib/utils"
import { lerobot } from "@/lib/mock-api"
import { useLocalStorage } from "@/hooks/use-local-storage"
import VirtualKey from "@/components/VirtualKey"
import type { RobotConnection, WebCalibrationResults, TeleoperationState } from "@/types/robot"
interface TeleoperationViewProps {
robot: RobotConnection
}
export function TeleoperationView({ robot }: TeleoperationViewProps) {
const [localCalibrationData] = useLocalStorage<WebCalibrationResults | null>(`calibration-${robot.robotId}`, null)
const [teleopState, setTeleopState] = useState<TeleoperationState | null>(null)
const [teleopProcess, setTeleopProcess] = useState<{
start: () => void
stop: () => void
updateKeyState: (key: string, pressed: boolean) => void
moveMotor: (motorName: string, position: number) => void
} | null>(null)
const calibrationData = useMemo(() => {
if (localCalibrationData) return localCalibrationData
return lerobot.MOCK_MOTOR_NAMES.reduce((acc, name) => {
acc[name] = { min: 1000, max: 3000 }
return acc
}, {} as WebCalibrationResults)
}, [localCalibrationData])
useEffect(() => {
let process: Awaited<ReturnType<typeof lerobot.teleoperate>>
const setup = async () => {
process = await lerobot.teleoperate(robot, {
calibrationData,
onStateUpdate: setTeleopState,
})
setTeleopProcess(process)
}
setup()
const handleKeyDown = (e: KeyboardEvent) => process?.updateKeyState(e.key, true)
const handleKeyUp = (e: KeyboardEvent) => process?.updateKeyState(e.key, false)
window.addEventListener("keydown", handleKeyDown)
window.addEventListener("keyup", handleKeyUp)
return () => {
process?.stop()
window.removeEventListener("keydown", handleKeyDown)
window.removeEventListener("keyup", handleKeyUp)
}
}, [robot, calibrationData])
const motorConfigs =
teleopState?.motorConfigs ??
lerobot.MOCK_MOTOR_NAMES.map((name) => ({
name,
currentPosition: 2048,
minPosition: calibrationData[name]?.min ?? 0,
maxPosition: calibrationData[name]?.max ?? 4095,
}))
const keyStates = teleopState?.keyStates ?? {}
const controls = lerobot.SO100_KEYBOARD_CONTROLS
return (
<Card className="border-0 rounded-none">
<div className="p-4 border-b border-white/10">
<div className="flex items-center justify-between">
<div className="flex items-center gap-4">
<div className="w-1 h-8 bg-primary"></div>
<div>
<h3 className="text-xl font-bold text-foreground font-mono tracking-wider uppercase">robot control</h3>
<p className="text-sm text-muted-foreground font-mono">
manual <span className="text-muted-foreground">teleoperate</span> interface
</p>
</div>
</div>
<div className="flex items-center gap-6">
<div className="border-l border-white/10 pl-6 flex items-center gap-4">
{teleopState?.isActive ? (
<Button onClick={() => teleopProcess?.stop()} variant="destructive" size="lg">
<PowerOff className="w-5 h-5 mr-2" /> Stop Control
</Button>
) : (
<Button onClick={() => teleopProcess?.start()} size="lg">
<Power className="w-5 h-5 mr-2" /> Control Robot
</Button>
)}
<div className="flex items-center gap-2">
<span className="text-sm font-mono text-muted-foreground uppercase">status:</span>
<Badge
variant="outline"
className={cn(
"border-primary/50 bg-primary/20 text-primary font-mono text-xs",
teleopState?.isActive && "animate-pulse-slow",
)}
>
{teleopState?.isActive ? "ACTIVE" : "STOPPED"}
</Badge>
</div>
</div>
</div>
</div>
</div>
<div className="pt-6 p-6 grid md:grid-cols-2 gap-8">
<div>
<h3 className="font-sans font-semibold mb-4 text-xl">Motor Control</h3>
<div className="space-y-6">
{motorConfigs.map((motor) => (
<div key={motor.name}>
<label className="text-sm font-mono text-muted-foreground">{motor.name}</label>
<div className="flex items-center gap-4">
<Slider
value={[motor.currentPosition]}
min={motor.minPosition}
max={motor.maxPosition}
step={1}
onValueChange={(val) => teleopProcess?.moveMotor(motor.name, val[0])}
disabled={!teleopState?.isActive}
/>
<span className="text-lg font-mono w-16 text-right text-accent">
{Math.round(motor.currentPosition)}
</span>
</div>
</div>
))}
</div>
</div>
<div>
<h3 className="font-sans font-semibold mb-4 text-xl">Keyboard Layout & Status</h3>
<div className="p-4 bg-black/30 rounded-lg space-y-4">
<div className="flex justify-around items-end">
<div className="flex flex-col items-center gap-2">
<VirtualKey
label="↑"
subLabel="Lift+"
isPressed={!!keyStates[controls.shoulder_lift.positive]?.pressed}
/>
<div className="flex gap-2">
<VirtualKey
label="←"
subLabel="Pan-"
isPressed={!!keyStates[controls.shoulder_pan.negative]?.pressed}
/>
<VirtualKey
label="↓"
subLabel="Lift-"
isPressed={!!keyStates[controls.shoulder_lift.negative]?.pressed}
/>
<VirtualKey
label="→"
subLabel="Pan+"
isPressed={!!keyStates[controls.shoulder_pan.positive]?.pressed}
/>
</div>
<span className="font-bold text-sm font-sans">Shoulder</span>
</div>
<div className="flex flex-col items-center gap-2">
<VirtualKey
label="W"
subLabel="Elbow+"
isPressed={!!keyStates[controls.elbow_flex.positive]?.pressed}
/>
<div className="flex gap-2">
<VirtualKey
label="A"
subLabel="Wrist+"
isPressed={!!keyStates[controls.wrist_flex.positive]?.pressed}
/>
<VirtualKey
label="S"
subLabel="Elbow-"
isPressed={!!keyStates[controls.elbow_flex.negative]?.pressed}
/>
<VirtualKey
label="D"
subLabel="Wrist-"
isPressed={!!keyStates[controls.wrist_flex.negative]?.pressed}
/>
</div>
<span className="font-bold text-sm font-sans">Elbow/Wrist</span>
</div>
<div className="flex flex-col items-center gap-2">
<div className="flex gap-2">
<VirtualKey
label="Q"
subLabel="Roll+"
isPressed={!!keyStates[controls.wrist_roll.positive]?.pressed}
/>
<VirtualKey
label="E"
subLabel="Roll-"
isPressed={!!keyStates[controls.wrist_roll.negative]?.pressed}
/>
</div>
<div className="flex gap-2">
<VirtualKey label="O" subLabel="Grip+" isPressed={!!keyStates[controls.gripper.positive]?.pressed} />
<VirtualKey label="C" subLabel="Grip-" isPressed={!!keyStates[controls.gripper.negative]?.pressed} />
</div>
<span className="font-bold text-sm font-sans">Roll/Grip</span>
</div>
</div>
<div className="pt-4 border-t border-white/10">
<div className="flex justify-between items-center font-mono text-sm">
<div className="flex items-center gap-2 text-muted-foreground">
<Keyboard className="w-4 h-4" />
<span>Active Keys: {Object.values(keyStates).filter((k) => k.pressed).length}</span>
</div>
<TooltipProvider>
<Tooltip>
<TooltipTrigger asChild>
<div
className={cn(
"w-10 h-6 border rounded-md flex items-center justify-center font-mono text-xs transition-all",
!!keyStates[controls.stop]?.pressed
? "bg-destructive text-destructive-foreground border-destructive"
: "bg-background",
)}
>
ESC
</div>
</TooltipTrigger>
<TooltipContent>Emergency Stop</TooltipContent>
</Tooltip>
</TooltipProvider>
</div>
</div>
</div>
</div>
</div>
</Card>
)
}
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