// Core models with clean typing
export interface JointState {
  name: string;
  value: number; // Normalized value (-100 to +100 for regular joints, 0-100 for grippers)
  limits?: { lower: number; upper: number }; // URDF limits in radians
  servoId?: number; // For hardware mapping
}

export interface JointCalibration {
  isCalibrated: boolean;
  minServoValue?: number;
  maxServoValue?: number;
}

export interface RobotCommand {
  joints: { name: string; value: number }[];
  timestamp?: number;
}

export interface ConnectionStatus {
  isConnected: boolean;
  error?: string;
  lastConnected?: Date;
}

export interface Position3D {
  x: number;
  y: number;
  z: number;
}

// Driver configurations
export interface USBDriverConfig {
  type: 'usb';
  baudRate?: number;
}

export interface RemoteDriverConfig {
  type: 'remote';
  url: string;
  robotId: string;
  workspaceId?: string; // Optional workspace ID for remote connections
}

// Driver base interface
export interface Driver {
  readonly id: string;
  readonly name: string;
  readonly status: ConnectionStatus;
  
  connect(): Promise<void>;
  disconnect(): Promise<void>;
  onStatusChange(callback: (status: ConnectionStatus) => void): () => void;
}

// Consumer interface (receives commands) - Robot can only have ONE
export interface Consumer extends Driver {
  onCommand(callback: (command: RobotCommand) => void): () => void;
  startListening?(): Promise<void>;
  stopListening?(): Promise<void>;
}

// Producer interface (sends commands) - Robot can have MULTIPLE
export interface Producer extends Driver {
  sendCommand(command: RobotCommand): Promise<void>;
}

// Calibration state for UI components
export interface CalibrationState {
  isCalibrating: boolean;
  progress: number;
}