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<script lang="ts">
import * as Sheet from "@/components/ui/sheet";
import { Button } from "@/components/ui/button";
import * as Alert from "@/components/ui/alert";
import { Badge } from "@/components/ui/badge";
import { toast } from "svelte-sonner";
import type { Robot } from "$lib/elements/robot/Robot.svelte.js";
interface Props {
workspaceId: string;
open: boolean;
robot: Robot;
}
let { open = $bindable(), robot, workspaceId }: Props = $props();
</script>
<Sheet.Root bind:open>
<Sheet.Content
trapFocus={false}
side="right"
class="w-80 gap-0 border-l border-slate-300 bg-gradient-to-b from-slate-100 to-slate-200 p-0 text-slate-900 sm:w-96 dark:border-slate-600 dark:bg-gradient-to-b dark:from-slate-700 dark:to-slate-800 dark:text-white"
>
<!-- Header -->
<Sheet.Header
class="border-b border-slate-300 bg-slate-200/80 p-6 backdrop-blur-sm dark:border-slate-600 dark:bg-slate-700/80"
>
<div class="flex items-center justify-between">
<div class="flex items-center gap-3">
<span class="icon-[mdi--tune] size-6 text-purple-500 dark:text-purple-400"></span>
<div>
<Sheet.Title class="text-xl font-semibold text-slate-900 dark:text-slate-100"
>Manual Control</Sheet.Title
>
<p class="mt-1 text-sm text-slate-600 dark:text-slate-400">
Direct robot joint manipulation
</p>
</div>
</div>
</div>
</Sheet.Header>
{#if robot}
<!-- Content -->
<div
class="scrollbar-thin scrollbar-track-slate-300 scrollbar-thumb-slate-500 dark:scrollbar-track-slate-700 dark:scrollbar-thumb-slate-500 flex-1 overflow-y-auto px-4"
>
<div class="space-y-6 py-4">
<!-- Manual Joint Controls -->
{#if robot.isManualControlEnabled}
<div class="space-y-4">
<div class="mb-3 flex items-center gap-3">
<span class="icon-[lucide--rotate-3d] size-5 text-purple-500 dark:text-purple-400"
></span>
<h3 class="text-lg font-medium text-slate-900 dark:text-slate-100">
Joint Controls
</h3>
<Badge variant="default" class="ml-auto bg-purple-500 text-xs dark:bg-purple-600">
{robot.jointArray.length}
</Badge>
</div>
<p class="text-xs text-slate-600 dark:text-slate-400">
Each joint can be moved independently using sliders. Values are normalized
percentages.
</p>
{#if robot.jointArray.length === 0}
<p class="py-4 text-center text-xs text-slate-600 italic dark:text-slate-500">
No joints available
</p>
{:else}
<div class="space-y-3">
{#each robot.jointArray as joint (joint.name)}
{@const isGripper =
joint.name.toLowerCase() === "jaw" || joint.name.toLowerCase() === "gripper"}
{@const minValue = isGripper ? 0 : -100}
{@const maxValue = isGripper ? 100 : 100}
<div
class="space-y-2 rounded-lg border border-slate-300 bg-slate-100/50 p-3 dark:border-slate-600 dark:bg-slate-800/50"
>
<div class="flex items-center justify-between">
<span class="text-sm font-medium text-slate-800 dark:text-slate-200"
>{joint.name}</span
>
<div class="flex items-center gap-2 text-xs">
<span class="font-mono text-purple-600 dark:text-purple-400">
{joint.value.toFixed(1)}{isGripper ? "%" : "%"}
</span>
{#if joint.limits}
<span class="font-mono text-[10px] text-slate-500 dark:text-slate-500">
({joint.limits.lower.toFixed(1)}° to {joint.limits.upper.toFixed(1)}°)
</span>
{/if}
</div>
</div>
<div class="space-y-1">
<input
type="range"
min={minValue}
max={maxValue}
step="0.1"
value={joint.value}
oninput={(e) => {
const val = parseFloat((e.target as HTMLInputElement).value);
robot.updateJoint(joint.name, val);
}}
class="slider h-2 w-full cursor-pointer appearance-none rounded-lg bg-slate-300 dark:bg-slate-600"
/>
<div
class="flex justify-between text-xs text-slate-600 dark:text-slate-500"
>
<span>{minValue}{isGripper ? "% (closed)" : "%"}</span>
<span>{maxValue}{isGripper ? "% (open)" : "%"}</span>
</div>
</div>
</div>
{/each}
</div>
{/if}
</div>
{:else}
<div class="space-y-4">
<div class="mb-3 flex items-center gap-3">
<h3 class="text-lg font-medium text-slate-900 dark:text-slate-100">
Input Control Active
</h3>
</div>
<Alert.Root
class="border-purple-300/30 bg-purple-100/10 dark:border-purple-500/30 dark:bg-purple-500/10"
>
<Alert.Title class="text-sm text-purple-700 dark:text-purple-200"
>Input Control Active</Alert.Title
>
<Alert.Description class="text-xs text-purple-700 dark:text-purple-300">
Robot controlled by: <strong>{robot.consumer?.name || "External Input"}</strong
><br />
Disconnect input to enable manual control.
</Alert.Description>
</Alert.Root>
</div>
{/if}
</div>
</div>
{/if}
</Sheet.Content>
</Sheet.Root>
<style>
/* Slider styling (classic <input type="range">) */
.slider::-webkit-slider-thumb {
appearance: none;
width: 16px;
height: 16px;
border-radius: 50%;
background: #a855f7;
cursor: pointer;
border: 2px solid #1e293b;
box-shadow: 0 2px 4px rgba(0, 0, 0, 0.2);
transition: all 0.15s ease;
}
.slider::-webkit-slider-thumb:hover {
background: #9333ea;
transform: scale(1.1);
}
.slider::-moz-range-thumb {
width: 16px;
height: 16px;
border-radius: 50%;
background: #a855f7;
cursor: pointer;
border: 2px solid #1e293b;
box-shadow: 0 2px 4px rgba(0, 0, 0, 0.2);
transition: all 0.15s ease;
}
.slider::-moz-range-track {
height: 6px;
background: #374151;
border-radius: 3px;
border: none;
}
.slider:focus {
box-shadow: 0 0 0 2px rgba(168, 85, 247, 0.5);
}
</style>
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