const canvas = document.getElementById("world-canvas");
const context = canvas.getContext("2d");
const vehicleSelect = document.getElementById("vehicle-select");
const commandMessage = document.getElementById("command-message");
const connectionDot = document.getElementById("connection-dot");
const connectionText = document.getElementById("connection-text");
const vehicleCards = document.getElementById("vehicle-cards");
const selectedVehicleDetail =
  document.getElementById("selected-vehicle-detail");
const actionGroups = document.getElementById("action-groups");
const updateRate = document.getElementById("update-rate");
const vehicleCountInput = document.getElementById("vehicle-count");
const layoutRows = document.getElementById("layout-rows");
const remoteState = document.getElementById("remote-state");
const speedScaleInput = document.getElementById("speed-scale");
const steeringScaleInput =
  document.getElementById("steering-scale");
const speedScaleValue =
  document.getElementById("speed-scale-value");
const steeringScaleValue =
  document.getElementById("steering-scale-value");

let vehicles = [];
let actions = [];
let configuration = {
  vehicleCount: 1,
  fleetCenter: { xMeters: 0, yMeters: 0, yawRadians: 0 },
  vehicles: [
    { vehicleId: 1, xMeters: 0, yMeters: 0, yawRadians: 0 }
  ]
};
let lastUpdateTime = performance.now();
let successfulUpdates = 0;
let remoteThrottle = 0;
let remoteSteering = 0;
let remotePointerId = null;
let remoteVehicleId = null;
const pressedDriveKeys = new Set();

function resizeCanvas() {
  const bounds = canvas.getBoundingClientRect();
  const ratio = window.devicePixelRatio || 1;
  canvas.width = Math.max(1, Math.floor(bounds.width * ratio));
  canvas.height = Math.max(1, Math.floor(bounds.height * ratio));
  context.setTransform(ratio, 0, 0, ratio, 0, 0);
}

function getView() {
  const centerX = configuration.fleetCenter.xMeters;
  const centerY = configuration.fleetCenter.yMeters;
  let radiusX = 2.1;
  let radiusY = 1.7;

  for (const vehicle of vehicles) {
    radiusX = Math.max(
      radiusX,
      Math.abs(vehicle.xMeters - centerX) + 1.2);
    radiusY = Math.max(
      radiusY,
      Math.abs(vehicle.yMeters - centerY) + 1.0);
  }

  const width = canvas.clientWidth;
  const height = canvas.clientHeight;
  const scale = Math.min(
    width / (radiusX * 2),
    height / (radiusY * 2),
    155);

  return { centerX, centerY, scale, width, height };
}

function worldToScreen(xMeters, yMeters, view = getView()) {
  return {
    x: view.width / 2 +
      (xMeters - view.centerX) * view.scale,
    y: view.height / 2 -
      (yMeters - view.centerY) * view.scale,
    scale: view.scale
  };
}

function drawGrid(view) {
  const width = view.width;
  const height = view.height;
  const worldOrigin = worldToScreen(0, 0, view);
  const spacing = view.scale;

  context.clearRect(0, 0, width, height);
  context.fillStyle = "#071018";
  context.fillRect(0, 0, width, height);
  context.lineWidth = 1;
  context.strokeStyle = "rgba(109, 143, 160, 0.12)";

  for (let x = worldOrigin.x % spacing; x < width; x += spacing) {
    context.beginPath();
    context.moveTo(x, 0);
    context.lineTo(x, height);
    context.stroke();
  }

  for (let y = worldOrigin.y % spacing; y < height; y += spacing) {
    context.beginPath();
    context.moveTo(0, y);
    context.lineTo(width, y);
    context.stroke();
  }

  context.strokeStyle = "rgba(90, 125, 142, 0.35)";
  context.lineWidth = 1.2;
  context.beginPath();
  context.moveTo(0, worldOrigin.y);
  context.lineTo(width, worldOrigin.y);
  context.moveTo(worldOrigin.x, 0);
  context.lineTo(worldOrigin.x, height);
  context.stroke();
}

function drawFleetCenter(view) {
  const fleet = configuration.fleetCenter;
  const point = worldToScreen(
    fleet.xMeters,
    fleet.yMeters,
    view);
  const yaw = fleet.yawRadians;
  const axisLength = 55;

  context.save();
  context.translate(point.x, point.y);
  context.rotate(-yaw);

  context.fillStyle = "#b58cff";
  context.beginPath();
  context.moveTo(0, -8);
  context.lineTo(8, 0);
  context.lineTo(0, 8);
  context.lineTo(-8, 0);
  context.closePath();
  context.fill();

  drawArrow(0, 0, axisLength, 0, "#ff7285", 2);
  drawArrow(0, 0, 0, -axisLength, "#66d99a", 2);
  context.restore();

  context.fillStyle = "#c7aaff";
  context.font = "12px Inter, sans-serif";
  context.fillText("FLEET CENTER", point.x + 12, point.y - 11);
}

function drawVehicle(vehicle, view) {
  const point = worldToScreen(
    vehicle.xMeters,
    vehicle.yMeters,
    view);
  const selected = Number(vehicleSelect.value) === vehicle.vehicleId;
  const bodyLength = vehicle.bodyLengthMeters * point.scale;
  const bodyWidth = vehicle.bodyWidthMeters * point.scale;

  context.save();
  context.translate(point.x, point.y);
  context.rotate(-vehicle.yawRadians);

  context.fillStyle = selected
    ? "rgba(26, 180, 155, 0.2)"
    : "rgba(50, 73, 88, 0.42)";
  context.strokeStyle = selected ? "#39d8b7" : "#668392";
  context.lineWidth = selected ? 2.5 : 1.5;
  context.beginPath();
  context.roundRect(
    -bodyLength / 2,
    -bodyWidth / 2,
    bodyLength,
    bodyWidth,
    12);
  context.fill();
  context.stroke();

  drawBodyAxes(bodyLength, bodyWidth);

  for (const wheel of vehicle.wheels) {
    drawWheel(
      wheel.xMeters * point.scale,
      -wheel.yMeters * point.scale,
      wheel);
  }

  context.fillStyle = "rgba(202, 222, 230, 0.8)";
  context.font = "10px Inter, sans-serif";
  context.textAlign = "center";
  context.fillText(
    "1472 × 948 mm",
    0,
    bodyWidth / 2 - 8);
  context.restore();

  context.textAlign = "left";
  context.fillStyle = "#dbe9ef";
  context.font = "600 13px Inter, sans-serif";
  context.fillText(
    `CAR ${vehicle.vehicleId}`,
    point.x - 24,
    point.y - bodyWidth / 2 - 18);

  context.fillStyle = vehicle.modeReady ? "#42dfb7" : "#ffb257";
  context.font = "12px Inter, sans-serif";
  context.fillText(
    vehicle.modeReady ? "READY" : "ALIGNING",
    point.x - 23,
    point.y + bodyWidth / 2 + 25);
}

function drawBodyAxes(bodyLength, bodyWidth) {
  const xLength = bodyLength / 2 + 30;
  const yLength = bodyWidth / 2 + 27;

  drawArrow(0, 0, xLength, 0, "#ff6477", 2.4);
  drawArrow(0, 0, 0, -yLength, "#54d991", 2.4);

  context.font = "700 11px Inter, sans-serif";
  context.fillStyle = "#ff8b99";
  context.fillText("+X", xLength - 2, -7);
  context.fillStyle = "#7debab";
  context.fillText("+Y", 6, -yLength + 2);
}

function drawWheel(x, y, wheel) {
  const wheelLength = 33;
  const limitRadius = 20;
  context.save();
  context.translate(x, y);

  context.strokeStyle = "rgba(86, 167, 255, 0.72)";
  context.lineWidth = 1.2;
  context.setLineDash([3, 3]);
  context.beginPath();
  context.moveTo(-22, 0);
  context.lineTo(24, 0);
  context.stroke();

  drawWheelLimitArc(limitRadius);

  context.save();
  context.rotate(-wheel.targetAngleDegrees * Math.PI / 180);
  context.strokeStyle = "rgba(255, 178, 87, 0.9)";
  context.lineWidth = 3;
  context.setLineDash([5, 4]);
  context.beginPath();
  context.moveTo(-wheelLength / 2, 0);
  context.lineTo(wheelLength / 2, 0);
  context.stroke();
  context.restore();

  context.save();
  context.rotate(-wheel.actualAngleDegrees * Math.PI / 180);
  context.strokeStyle = wheel.isAligned ? "#42dfb7" : "#f2f6f8";
  context.lineWidth = 7;
  context.setLineDash([]);
  context.lineCap = "round";
  context.beginPath();
  context.moveTo(-wheelLength / 2, 0);
  context.lineTo(wheelLength / 2, 0);
  context.stroke();
  context.restore();

  context.setLineDash([]);
  context.fillStyle = wheel.isAligned ? "#7ef4dc" : "#ffca83";
  context.font = "700 9px Inter, sans-serif";
  context.textAlign = "center";
  const sign = wheel.actualAngleDegrees >= 0 ? "+" : "";
  context.fillText(
    `${sign}${wheel.actualAngleDegrees.toFixed(0)}°`,
    0,
    -25);
  context.restore();
}

function drawWheelLimitArc(radius) {
  context.strokeStyle = "rgba(181, 140, 255, 0.5)";
  context.lineWidth = 1;
  context.setLineDash([]);
  context.beginPath();

  for (let angle = -120; angle <= 120; angle += 5) {
    const radians = -angle * Math.PI / 180;
    const x = Math.cos(radians) * radius;
    const y = Math.sin(radians) * radius;
    if (angle === -120) context.moveTo(x, y);
    else context.lineTo(x, y);
  }
  context.stroke();

  for (const angle of [-120, 0, 120]) {
    const radians = -angle * Math.PI / 180;
    context.beginPath();
    context.moveTo(
      Math.cos(radians) * (radius - 3),
      Math.sin(radians) * (radius - 3));
    context.lineTo(
      Math.cos(radians) * (radius + 3),
      Math.sin(radians) * (radius + 3));
    context.stroke();
  }
}

function drawArrow(x1, y1, x2, y2, color, width) {
  const angle = Math.atan2(y2 - y1, x2 - x1);
  context.strokeStyle = color;
  context.fillStyle = color;
  context.lineWidth = width;
  context.setLineDash([]);
  context.beginPath();
  context.moveTo(x1, y1);
  context.lineTo(x2, y2);
  context.stroke();
  context.beginPath();
  context.moveTo(x2, y2);
  context.lineTo(
    x2 - 9 * Math.cos(angle - Math.PI / 6),
    y2 - 9 * Math.sin(angle - Math.PI / 6));
  context.lineTo(
    x2 - 9 * Math.cos(angle + Math.PI / 6),
    y2 - 9 * Math.sin(angle + Math.PI / 6));
  context.closePath();
  context.fill();
}

function draw() {
  const view = getView();
  drawGrid(view);
  drawFleetCenter(view);
  vehicles.forEach(vehicle => drawVehicle(vehicle, view));
  requestAnimationFrame(draw);
}

function renderActions() {
  const preferredGroups = ["舵轮模式", "运动测试", "维护"];
  const groups = [...new Set(actions.map(action => action.group))]
    .sort((left, right) => {
      const leftIndex = preferredGroups.indexOf(left);
      const rightIndex = preferredGroups.indexOf(right);
      if (leftIndex < 0 && rightIndex < 0)
        return left.localeCompare(right, "zh-CN");
      if (leftIndex < 0) return 1;
      if (rightIndex < 0) return -1;
      return leftIndex - rightIndex;
    });

  actionGroups.innerHTML = groups.map(group => {
    const buttons = actions
      .filter(action => action.group === group)
      .sort((a, b) => a.order - b.order)
      .map(action => `
        <button data-command="${action.key}"
                class="${action.key === "stop" ? "danger-button" : ""}">
          ${action.displayName}
        </button>`)
      .join("");

    return `
      <section class="action-group">
        <p class="group-label">${group}</p>
        <div class="action-grid">${buttons}</div>
      </section>`;
  }).join("");

  actionGroups.querySelectorAll("[data-command]")
    .forEach(button => {
      button.addEventListener("click", () =>
        sendCommand(button.dataset.command));
    });
}

function renderVehicleSelector() {
  const previous = Number(vehicleSelect.value);
  vehicleSelect.innerHTML = vehicles
    .map(vehicle =>
      `<option value="${vehicle.vehicleId}">车辆 ${vehicle.vehicleId}</option>`)
    .join("");

  if (vehicles.some(vehicle => vehicle.vehicleId === previous))
    vehicleSelect.value = String(previous);
}

function renderCards() {
  vehicleCards.innerHTML = vehicles.map(vehicle => {
    const actual = vehicle.actualBodyTwist;
    const selected =
      Number(vehicleSelect.value) === vehicle.vehicleId;
    return `
      <button class="vehicle-card ${selected ? "selected" : ""}"
              data-vehicle="${vehicle.vehicleId}">
        <div class="card-topline">
          <strong>CAR ${vehicle.vehicleId}</strong>
          <span class="${vehicle.modeReady ? "status-ready" : "status-aligning"}">
            ${vehicle.modeReady ? "READY" : "ALIGNING"}
          </span>
        </div>
        <div class="mode-name">${formatMode(vehicle.mode)}</div>
        <dl>
          <div><dt>X</dt><dd>${vehicle.xMeters.toFixed(2)} m</dd></div>
          <div><dt>Y</dt><dd>${vehicle.yMeters.toFixed(2)} m</dd></div>
          <div><dt>Yaw</dt><dd>${radToDeg(vehicle.yawRadians).toFixed(1)}°</dd></div>
          <div><dt>Vx / Vy</dt><dd>${actual.vxMetersPerSecond.toFixed(2)} / ${actual.vyMetersPerSecond.toFixed(2)}</dd></div>
        </dl>
      </button>`;
  }).join("");

  vehicleCards.querySelectorAll("[data-vehicle]").forEach(card => {
    card.addEventListener("click", () => {
      vehicleSelect.value = card.dataset.vehicle;
      renderCards();
      renderSelectedVehicleDetail();
    });
  });
}

function renderSelectedVehicleDetail() {
  const selectedId = Number(vehicleSelect.value);
  const vehicle = vehicles.find(item => item.vehicleId === selectedId);
  if (!vehicle) {
    selectedVehicleDetail.innerHTML = "";
    return;
  }

  selectedVehicleDetail.innerHTML = `
    <section class="wheel-detail">
      <div class="geometry-note">
        车体 1472 × 948 mm · 实际DLL轮位 X±750 / Y±500 mm
      </div>
      ${vehicle.wheels.map(wheel => {
        const actualPercent =
          (wheel.actualAngleDegrees + 120) / 240 * 100;
        const targetPercent =
          (wheel.targetAngleDegrees + 120) / 240 * 100;
        return `
          <div class="wheel-row">
            <div class="wheel-row-title">
              <strong>${wheel.name}</strong>
              <span>实际 ${signed(wheel.actualAngleDegrees)}° · 目标 ${signed(wheel.targetAngleDegrees)}°</span>
            </div>
            <div class="angle-scale">
              <span class="zero-mark"></span>
              <span class="target-mark" style="left:${targetPercent}%"></span>
              <span class="actual-mark" style="left:${actualPercent}%"></span>
            </div>
            <div class="wheel-speed">
              轮速 ${wheel.actualSpeedMetersPerSecond.toFixed(2)} m/s
            </div>
          </div>`;
      }).join("")}
    </section>`;
}

function formatMode(mode) {
  return {
    Normal: "正常模式",
    CrabLeft: "左蟹行",
    CrabRight: "右蟹行",
    Spin: "自转模式"
  }[mode] || mode;
}

async function loadActions() {
  const response = await fetch("/api/actions", { cache: "no-store" });
  if (!response.ok) throw new Error(`HTTP ${response.status}`);
  actions = await response.json();
  renderActions();
}

async function loadConfiguration() {
  const response = await fetch("/api/configuration", {
    cache: "no-store"
  });
  if (!response.ok) throw new Error(`HTTP ${response.status}`);
  configuration = await response.json();
  populateConfigurationForm();
}

function populateConfigurationForm() {
  vehicleCountInput.value = String(configuration.vehicleCount);
  document.getElementById("fleet-x").value =
    configuration.fleetCenter.xMeters;
  document.getElementById("fleet-y").value =
    configuration.fleetCenter.yMeters;
  document.getElementById("fleet-yaw").value =
    radToDeg(configuration.fleetCenter.yawRadians).toFixed(1);
  renderLayoutRows(configuration.vehicleCount, configuration.vehicles);
}

function readExistingLayouts() {
  return [...layoutRows.querySelectorAll(".layout-row")].map(row => ({
    vehicleId: Number(row.dataset.vehicleId),
    xMeters: Number(row.querySelector("[data-field='x']").value),
    yMeters: Number(row.querySelector("[data-field='y']").value),
    yawRadians: degToRad(
      Number(row.querySelector("[data-field='yaw']").value))
  }));
}

function renderLayoutRows(count, sourceLayouts = readExistingLayouts()) {
  const byId = new Map(
    sourceLayouts.map(layout => [layout.vehicleId, layout]));

  const fallbackSpacing = 2.0;
  layoutRows.innerHTML = Array.from({ length: count }, (_, index) => {
    const id = index + 1;
    const fallbackX =
      (index - (count - 1) / 2) * fallbackSpacing;
    const layout = byId.get(id) || {
      vehicleId: id,
      xMeters: count === 1 ? 0 : fallbackX,
      yMeters: 0,
      yawRadians: 0
    };

    return `
      <div class="layout-row" data-vehicle-id="${id}">
        <strong>CAR ${id}</strong>
        <label>X<input data-field="x" type="number" step="0.1"
          value="${layout.xMeters}"></label>
        <label>Y<input data-field="y" type="number" step="0.1"
          value="${layout.yMeters}"></label>
        <label>Yaw°<input data-field="yaw" type="number" step="1"
          value="${radToDeg(layout.yawRadians).toFixed(1)}"></label>
      </div>`;
  }).join("");
}

async function applyConfiguration() {
  const count = Number(vehicleCountInput.value);
  const layouts = readExistingLayouts().slice(0, count);
  const payload = {
    vehicleCount: count,
    fleetCenter: {
      xMeters: Number(document.getElementById("fleet-x").value),
      yMeters: Number(document.getElementById("fleet-y").value),
      yawRadians: degToRad(
        Number(document.getElementById("fleet-yaw").value))
    },
    vehicles: layouts
  };

  const response = await fetch("/api/configuration", {
    method: "POST",
    headers: { "Content-Type": "application/json" },
    body: JSON.stringify(payload)
  });
  const result = await response.json();

  if (!response.ok) {
    commandMessage.textContent =
      result.message || "布局配置失败。";
    commandMessage.classList.add("error");
    return;
  }

  configuration = result;
  commandMessage.textContent =
    `已应用 ${configuration.vehicleCount} 辆车的车队布局。`;
  commandMessage.classList.remove("error");
  await updateVehicles();
}

async function updateVehicles() {
  try {
    const response = await fetch("/api/vehicles", {
      cache: "no-store"
    });
    if (!response.ok) throw new Error(`HTTP ${response.status}`);
    vehicles = await response.json();
    renderVehicleSelector();
    renderCards();
    renderSelectedVehicleDetail();
    connectionDot.classList.add("online");
    connectionText.textContent = "离线仿真运行中";
    successfulUpdates += 1;
  } catch {
    connectionDot.classList.remove("online");
    connectionText.textContent = "仿真后端未连接";
  }
}

async function sendCommand(command) {
  const vehicleId = vehicleSelect.value;
  try {
    const response = await fetch(
      `/api/vehicles/${vehicleId}/commands/${command}`,
      { method: "POST" });
    const result = await response.json();
    commandMessage.textContent = result.message;
    commandMessage.classList.toggle("error", !result.success);
    await updateVehicles();
  } catch {
    commandMessage.textContent =
      "命令发送失败，请检查仿真后端。";
    commandMessage.classList.add("error");
  }
}

function getRemoteScale(input) {
  return Number(input.value) / 100;
}

function updateRemoteLabels() {
  speedScaleValue.textContent = `${speedScaleInput.value}%`;
  steeringScaleValue.textContent =
    `${steeringScaleInput.value}%`;
}

async function sendManualControl(
  throttle,
  steering,
  showMessage = false,
  vehicleIdOverride = null) {
  remoteThrottle = throttle;
  remoteSteering = steering;

  const active =
    Math.abs(throttle) > 0.001 ||
    Math.abs(steering) > 0.001;
  remoteState.textContent = active
    ? `油门 ${signed(throttle)} · 转向 ${signed(steering)}`
    : "已松开";
  remoteState.classList.toggle("active", active);

  try {
    const vehicleId = vehicleIdOverride ??
      (active
        ? vehicleSelect.value
        : remoteVehicleId ?? vehicleSelect.value);

    if (active)
      remoteVehicleId = String(vehicleId);

    const response = await fetch(
      `/api/vehicles/${vehicleId}/manual-control`,
      {
        method: "POST",
        headers: { "Content-Type": "application/json" },
        body: JSON.stringify({
          throttle,
          steering,
          speedScale: getRemoteScale(speedScaleInput),
          steeringScale: getRemoteScale(steeringScaleInput)
        })
      });
    const result = await response.json();

    if (!response.ok || showMessage) {
      commandMessage.textContent = result.message;
      commandMessage.classList.toggle(
        "error",
        !result.success);
    }

    if (!active &&
        String(vehicleId) === remoteVehicleId) {
      remoteVehicleId = null;
    }
  } catch {
    commandMessage.textContent =
      "虚拟遥控命令发送失败，请检查仿真后端。";
    commandMessage.classList.add("error");
  }
}

function stopRemote(showMessage = false) {
  const vehicleId = remoteVehicleId;
  pressedDriveKeys.clear();
  document.querySelectorAll(".remote-pad .pressed")
    .forEach(button => button.classList.remove("pressed"));
  return sendManualControl(
    0,
    0,
    showMessage,
    vehicleId);
}

function driveFromKeyboard() {
  const forward =
    pressedDriveKeys.has("KeyW") ||
    pressedDriveKeys.has("ArrowUp");
  const backward =
    pressedDriveKeys.has("KeyS") ||
    pressedDriveKeys.has("ArrowDown");
  const left =
    pressedDriveKeys.has("KeyA") ||
    pressedDriveKeys.has("ArrowLeft");
  const right =
    pressedDriveKeys.has("KeyD") ||
    pressedDriveKeys.has("ArrowRight");

  const throttle = Number(forward) - Number(backward);
  const steering = Number(left) - Number(right);
  sendManualControl(throttle, steering);
}

function isTypingTarget(target) {
  return target instanceof HTMLInputElement ||
    target instanceof HTMLSelectElement ||
    target instanceof HTMLTextAreaElement;
}

document.querySelectorAll(
  ".remote-pad [data-throttle][data-steering]")
  .forEach(button => {
    button.addEventListener("pointerdown", event => {
      event.preventDefault();
      remotePointerId = event.pointerId;
      button.setPointerCapture(event.pointerId);
      button.classList.add("pressed");
      sendManualControl(
        Number(button.dataset.throttle),
        Number(button.dataset.steering));
    });

    const release = event => {
      if (remotePointerId !== event.pointerId)
        return;
      remotePointerId = null;
      button.classList.remove("pressed");
      stopRemote();
    };

    button.addEventListener("pointerup", release);
    button.addEventListener("pointercancel", release);
    button.addEventListener("lostpointercapture", release);
  });

document.getElementById("remote-stop").addEventListener(
  "click",
  () => stopRemote(true));

window.addEventListener("keydown", event => {
  if (isTypingTarget(event.target))
    return;

  const driveKeys = [
    "KeyW", "KeyS", "KeyA", "KeyD",
    "ArrowUp", "ArrowDown", "ArrowLeft", "ArrowRight"
  ];
  if (!driveKeys.includes(event.code))
    return;

  event.preventDefault();
  if (event.repeat)
    return;

  pressedDriveKeys.add(event.code);
  driveFromKeyboard();
});

window.addEventListener("keyup", event => {
  if (!pressedDriveKeys.has(event.code))
    return;

  event.preventDefault();
  pressedDriveKeys.delete(event.code);
  driveFromKeyboard();
});

window.addEventListener("blur", () => stopRemote());
document.addEventListener("visibilitychange", () => {
  if (document.hidden)
    stopRemote();
});

[speedScaleInput, steeringScaleInput].forEach(input => {
  input.addEventListener("input", () => {
    updateRemoteLabels();
    if (remoteThrottle !== 0 || remoteSteering !== 0) {
      sendManualControl(
        remoteThrottle,
        remoteSteering);
    }
  });
});

document.getElementById("reset-all").addEventListener(
  "click",
  async () => {
    await fetch("/api/reset", { method: "POST" });
    commandMessage.textContent = "全部仿真车已复位。";
    commandMessage.classList.remove("error");
    await updateVehicles();
  });

document.getElementById("apply-configuration")
  .addEventListener("click", applyConfiguration);

vehicleCountInput.addEventListener("change", () =>
  renderLayoutRows(Number(vehicleCountInput.value)));

vehicleSelect.addEventListener("change", () => {
  stopRemote();
  renderCards();
  renderSelectedVehicleDetail();
});

window.addEventListener("resize", resizeCanvas);

setInterval(updateVehicles, 100);
setInterval(() => {
  const now = performance.now();
  const seconds = (now - lastUpdateTime) / 1000;
  updateRate.textContent =
    `${(successfulUpdates / seconds).toFixed(0)} Hz`;
  successfulUpdates = 0;
  lastUpdateTime = now;
}, 1000);

function signed(value) {
  return `${value >= 0 ? "+" : ""}${value.toFixed(1)}`;
}

function degToRad(value) {
  return value * Math.PI / 180;
}

function radToDeg(value) {
  return value * 180 / Math.PI;
}

async function initialize() {
  try {
    await Promise.all([
      loadActions(),
      loadConfiguration(),
      updateVehicles()
    ]);
  } catch {
    connectionText.textContent = "仿真初始化失败";
    commandMessage.textContent =
      "无法读取命令或布局配置，请检查后端。";
    commandMessage.classList.add("error");
  }
}

resizeCanvas();
updateRemoteLabels();
initialize();
requestAnimationFrame(draw);