/**
 * High-Performance Configuration for Robot Control
 * Optimized for minimum latency and maximum responsiveness
 *
 * These values are hardcoded constants optimized for local network operations.
 * Modify these values carefully - aggressive settings may cause instability.
 */
export const PERFORMANCE_CONFIG = {
	/**
	 * WebSocket Connection Settings
	 * Optimized for minimal connection overhead
	 */
	WEBSOCKET: {
		// Connection timeout - reduced from default 10s to 3s
		CONNECTION_TIMEOUT_MS: 3000,

		// Reconnection settings - faster recovery
		MAX_RECONNECT_ATTEMPTS: 10,
		INITIAL_RECONNECT_DELAY_MS: 250, // Start with 250ms instead of 1s
		MAX_RECONNECT_DELAY_MS: 2000, // Cap at 2s instead of exponential growth

		// Heartbeat frequency - more frequent to detect issues faster
		HEARTBEAT_INTERVAL_MS: 5000 // Every 5s instead of 30s
	},

	/**
	 * Robot Polling and Update Rates
	 * Optimized for real-time responsiveness
	 */
	ROBOT_POLLING: {
		// USB Master polling - increased from 200ms to 50ms (20Hz)
		USB_MASTER_POLL_INTERVAL_MS: 50,

		// Robot sync interval - increased from 100ms to 33ms (~30Hz)
		ROBOT_SYNC_INTERVAL_MS: 33,

		// State update frequency for mock/slave drivers
		STATE_UPDATE_INTERVAL_MS: 33, // ~30Hz instead of 10Hz

		// Command sequence playback rate
		SEQUENCE_PLAYBACK_INTERVAL_MS: 16, // ~60Hz for smooth playback

		// Minimum position change threshold (servo units)
		POSITION_CHANGE_THRESHOLD: 2 // Reduced from 5 for more sensitivity
	},

	/**
	 * Data Processing Optimizations
	 * Reduce computational overhead
	 */
	DATA_PROCESSING: {
		// Joint smoothing history size - reduced for lower latency
		SMOOTHING_HISTORY_SIZE: 2, // Reduced from 3

		// Enable/disable smoothing by default (can cause latency)
		ENABLE_SMOOTHING: false // Disabled for minimum latency
	},

	/**
	 * Network and Serial Communication
	 * Optimized for low-latency communication
	 */
	COMMUNICATION: {
		// Serial port settings for USB connections
		USB_BAUD_RATE: 1000000, // 1Mbps - maximum for most servos

		BATCH_COMMAND_DELAY_MS: 10 // Minimal delay between batch commands
	},

	/**
	 * Safety and Control Optimizations (inspired by lerobot)
	 * Prevent dangerous movements and ensure smooth operation
	 */
	SAFETY: {
		// Maximum relative movement per step (degrees)
		MAX_RELATIVE_TARGET_DEG: 15, // Prevent sudden large movements

		// Maximum joint velocity (degrees/second)
		MAX_JOINT_VELOCITY_DEG_S: 120, // Limit movement speed

		// Enable position clamping for safety
		ENABLE_POSITION_CLAMPING: true,

		// Emergency stop on large position jumps
		EMERGENCY_STOP_THRESHOLD_DEG: 45
	},

	/**
	 * Timing and Synchronization (inspired by lerobot)
	 * Precise timing control for smooth operation
	 */
	TIMING: {
		// Use busy wait for precise timing (like lerobot)
		USE_BUSY_WAIT: true,

		// Enable high-precision timing
		USE_HIGH_PRECISION_TIMING: true,

		// Warmup time for device synchronization
		DEVICE_WARMUP_TIME_MS: 2000
	},

	/**
	 * Logging and Debug Settings
	 * Minimal logging for production performance
	 */
	LOGGING: {
		// Enable performance logging
		ENABLE_PERFORMANCE_LOGS: false,

		// Log level for WebSocket traffic
		WEBSOCKET_LOG_LEVEL: "error", // Only log errors

		// Enable timing measurements (like lerobot)
		ENABLE_TIMING_MEASUREMENTS: true,

		// Console log buffer size
		LOG_BUFFER_SIZE: 100,

		// Enable detailed performance metrics
		ENABLE_DETAILED_METRICS: false
	}
} as const;

/**
 * Performance Presets
 * Quick configurations for different scenarios
 */
export const PERFORMANCE_PRESETS = {
	/**
	 * Ultra Low Latency - For same-network, high-performance scenarios
	 * Maximum responsiveness, minimal buffering
	 */
	ULTRA_LOW_LATENCY: {
		...PERFORMANCE_CONFIG,
		ROBOT_POLLING: {
			...PERFORMANCE_CONFIG.ROBOT_POLLING,
			USB_MASTER_POLL_INTERVAL_MS: 20, // 50Hz
			ROBOT_SYNC_INTERVAL_MS: 16, // ~60Hz
			STATE_UPDATE_INTERVAL_MS: 16 // ~60Hz
		},
		WEBSOCKET: {
			...PERFORMANCE_CONFIG.WEBSOCKET,
			HEARTBEAT_INTERVAL_MS: 2000, // Every 2s
			CONNECTION_TIMEOUT_MS: 1500 // 1.5s timeout
		},
		DATA_PROCESSING: {
			...PERFORMANCE_CONFIG.DATA_PROCESSING,
			ENABLE_SMOOTHING: false, // No smoothing
			POSITION_CHANGE_THRESHOLD: 1 // Maximum sensitivity
		}
	},

	/**
	 * Balanced - Good performance with stability
	 * Recommended for most use cases
	 */
	BALANCED: {
		...PERFORMANCE_CONFIG,
		DATA_PROCESSING: {
			...PERFORMANCE_CONFIG.DATA_PROCESSING,
			ENABLE_SMOOTHING: true,
			SMOOTHING_HISTORY_SIZE: 3
		}
	},

	/**
	 * Stable - Conservative settings for unreliable networks
	 * Prioritizes stability over latency
	 */
	STABLE: {
		...PERFORMANCE_CONFIG,
		ROBOT_POLLING: {
			...PERFORMANCE_CONFIG.ROBOT_POLLING,
			USB_MASTER_POLL_INTERVAL_MS: 100, // 10Hz
			ROBOT_SYNC_INTERVAL_MS: 100 // 10Hz
		},
		WEBSOCKET: {
			...PERFORMANCE_CONFIG.WEBSOCKET,
			HEARTBEAT_INTERVAL_MS: 10000, // Every 10s
			CONNECTION_TIMEOUT_MS: 5000 // 5s timeout
		}
	}
} as const;

/**
 * Active configuration - change this to switch presets
 * ULTRA_LOW_LATENCY: Maximum performance for local networks
 * BALANCED: Good compromise between speed and stability
 * STABLE: Conservative settings for unreliable connections
 */
export const ACTIVE_PERFORMANCE_CONFIG = PERFORMANCE_PRESETS.ULTRA_LOW_LATENCY;

/**
 * Utility functions for configuration access
 */
export const getWebSocketConfig = () => ACTIVE_PERFORMANCE_CONFIG.WEBSOCKET;
export const getRobotPollingConfig = () => ACTIVE_PERFORMANCE_CONFIG.ROBOT_POLLING;
export const getDataProcessingConfig = () => ACTIVE_PERFORMANCE_CONFIG.DATA_PROCESSING;
export const getCommunicationConfig = () => ACTIVE_PERFORMANCE_CONFIG.COMMUNICATION;
export const getSafetyConfig = () => ACTIVE_PERFORMANCE_CONFIG.SAFETY;
export const getTimingConfig = () => ACTIVE_PERFORMANCE_CONFIG.TIMING;
export const getLoggingConfig = () => ACTIVE_PERFORMANCE_CONFIG.LOGGING;