#include "fgc/HelpText.h"

#include <algorithm>
#include <cctype>

namespace fgc {

namespace {

std::string lower(std::string s) {
    std::transform(s.begin(), s.end(), s.begin(),
                   [](unsigned char c) { return static_cast<char>(std::tolower(c)); });
    return s;
}

// First whitespace-delimited token of a syntax string (the command verb), lowercased.
std::string verbOf(const std::string& syntax) {
    auto end = syntax.find_first_of(" \t");
    return lower(syntax.substr(0, end == std::string::npos ? syntax.size() : end));
}

}  // namespace

const std::vector<HelpSection>& helpCatalog() {
    // clang-format off
    static const std::vector<HelpSection> catalog = {
        {"Positioning", "Aim the gimbal. 'move' is degrees; 'steps' is raw encoder counts.", {
            {"gimbal move <yaw>,<pitch>",
             "Point the gimbal at an absolute heading/elevation in DEGREES.", {
                "Converts degrees to encoder counts (operator-calibrated) and sends a",
                "two-axis move so both axes start together; soft-clamped to travel limits.",
                "Example:  gimbal move 30,-10    (yaw 30 deg, pitch -10 deg)"}},
            {"gimbal steps <yaw>,<pitch>",
             "Move both axes to absolute encoder COUNTS (no degree conversion).", {
                "Example:  gimbal steps 100000,250000"}},
            {"gimbal nudge <yaw|pitch> <+/-pct>",
             "Relative step move by a percent of the axis travel.", {
                "Arrow keys do this: Left/Right = yaw -/+5%, Up/Down = pitch +/-10%.",
                "Example:  gimbal nudge yaw -5"}},
            {"gimbal home [y|p]",
             "Run the endstop-finding home sequence (both axes, or one).", {
                "Example:  gimbal home      /      gimbal home y"}},
            {"gimbal stop [y|p|all]",
             "Stop motion immediately (also cancels a running calibration).", {}},
            {"gimbal speed <y|p> <vel>",
             "Set the max slew speed (counts/s) for an axis.", {}},
            {"gimbal reset [y|p] / gimbal enable|disable <y|p> / gimbal setpos <y|p> <v>",
             "Other firmware motor controls.", {}},
        }},
        {"Diagnostics", "Inspect, self-test and calibrate the gimbal.", {
            {"gimbal dump",
             "Request a full firmware state dump and show it here.", {
                "Captured DUMP BEGIN..END block (build, uptime, reset cause, per-axis",
                "TMC5160 registers); shown in the gimbal 'g' expanded view.",
                "Equivalent offline tool:  ./firmware/dump.sh"}},
            {"gimbal diag [y|p|all]",
             "Run the firmware motor self-test; results stream to the LOG + a logfile.", {
                "Each axis is swept at several speeds/directions (DG lines). A PASS/FAIL",
                "summary is logged and saved to logs/diag_*.log. Axes must be homed first."}},
            {"gimbal calib",
             "Calibrate steps<->degrees using the IMU (auto-homes; ~minutes).", {
                "Needs the IMU. Homes first if needed, calibrates PITCH at the first yaw",
                "position, moves pitch to 0, switches the IMU to a no-mag XKF profile",
                "(persists on the device), runs no-rotation + heading reset to zero yaw",
                "drift, then calibrates YAW. Applies the fit to the session and writes",
                "logs/calib_*.log. 'gimbal stop' cancels."}},
            {"gimbal status",
             "Ask the firmware to emit one telemetry (ST) line now.", {}},
            {"gimbal raw \"<command>\"",
             "Low-level: send the quoted text to the firmware verbatim (a newline is", {
                "added automatically). Bypasses all wrappers/unit conversion for direct",
                "firmware control — use with care; sends exactly what you type.",
                "Example:  gimbal raw \"MOVE 100000,250000\"   /   gimbal raw \"DUMP\""}},
        }},
        {"Capture", "Control image capture and encoding.", {
            {"start", "Begin the capture scan.", {}},
            {"stop",  "Halt the capture scan.", {}},
            {"set fps <rate>", "Set capture rate in images/second.", {}},
            {"set camera fps <rate>", "Set the camera sensor frame rate.", {}},
            {"set camera jxlq <dist>", "Set JPEG-XL distance (lower = higher quality).", {}},
            {"set camera jxle <effort>", "Set JPEG-XL encode effort.", {}},
            {"set camera display <0|1>", "Toggle the local display window.", {}},
        }},
        {"Logging", "Control console/log verbosity.", {
            {"debug", "Toggle debug-level logging on/off.", {}},
            {"trace <serial|mqtt|camera|control|all|off> [on|off]",
             "Toggle verbatim wire-trace categories.", {
                "Example:  trace serial on      /      trace off"}},
        }},
        {"Session", "Help and exit.", {
            {"refresh",
             "Re-read live device state (TUI: press 'r').", {
                "Re-queries the IMU configuration (XKF profile, output settings) and",
                "requests a fresh firmware dump, updating the 'i' and 'g' expanded views.",
                "Use after changing the XKF profile externally. Briefly pauses the IMU",
                "stream while it re-enters the device's Config state."}},
            {"help [topic]",
             "Show this reference; 'help <topic>' expands one section.", {
                "Example:  help positioning      /      help dump"}},
            {"exit", "Shut down and quit.", {}},
        }},
    };
    // clang-format on
    return catalog;
}

std::vector<std::string> renderHelp(const std::string& topic) {
    std::vector<std::string> out;
    const std::string q = lower(topic);

    if (q.empty()) {
        out.emplace_back("Available commands (type 'help <topic>' for detail, e.g. 'help goto'):");
        for (const auto& sec : helpCatalog()) {
            out.emplace_back("");
            out.emplace_back("== " + sec.title + " ==  " + sec.blurb);
            for (const auto& e : sec.entries)
                out.emplace_back("  " + e.syntax + "  -  " + e.summary);
        }
        return out;
    }

    // Topic mode: match a section by title, or an entry by command verb.
    bool matched = false;
    for (const auto& sec : helpCatalog()) {
        const bool sec_match = lower(sec.title).find(q) != std::string::npos;
        for (const auto& e : sec.entries) {
            if (!sec_match && verbOf(e.syntax) != q) continue;
            matched = true;
            out.emplace_back(e.syntax);
            out.emplace_back("    " + e.summary);
            for (const auto& d : e.detail) out.emplace_back("    " + d);
            out.emplace_back("");
        }
    }
    if (!matched) out.emplace_back("No help topic matching '" + topic + "'. Try 'help'.");
    return out;
}

}  // namespace fgc