import { SerialManager } from './serial.js';
import { ServoMotor, getModelType, writeData } from './feetechDefinitions.js';
import { CurveEditor } from './curveEditor.js';



window.onload = () => {
    const serial = new SerialManager();
    const servoMotors = [[], []]; // index 0 = channel 0, index 1 = channel 1
    const statusText = document.getElementById('statusText');
    const disconnectBtn = document.getElementById('disconnect');
    const connectBtn = document.getElementById('connect');
    const syncCheckbox = document.getElementById("syncCheckbox");
    const feebackCheckbox = document.getElementById("feebackCheckbox");
    const clearBtn = document.getElementById("clearAnimation");

    // Limits rate of move commands sent while sliding timeslider
    let lastSyncTime = 0; // global or outer-scope variable
    const syncIntervalMs = 20; // e.g. 100ms = max 10 times per second

    let isInterpolating = false;
    let currentFrame = 0;
    let dialKeyframes = Array.from({ length: 5 }, () => ({}));

    let selectedDial = null;
    let draggingKeyframe = null; // { dialIndex, originalFrame }
    let isDragging = false;
    const dialColors = ['red', 'green', 'blue', 'orange', 'purple'];

    const dials = [];
    const frameSlider = document.getElementById('frameSlider');
    const frameDisplay = document.getElementById('frameDisplay');
    const canvas = document.getElementById('timelineCanvas');
    const ctx = canvas.getContext('2d');
    const totalFrames = 500;


    const curveCanvas = document.getElementById('curveCanvas');
    const curveEditor = new CurveEditor(curveCanvas, 10);


    // Animation File List
    const fileListElement = document.getElementById('fileList');
    const playButton = document.getElementById('playFile');
    const loadButton = document.getElementById('loadFile');
    const deleteButton = document.getElementById('deleteFile');

    let selectedFile = null;

    function clearFileList() {
        fileListElement.innerHTML = '';
        selectedFile = null;
        loadButton.disabled = true;
        deleteButton.disabled = true;
    }


    function addFileToList(filename) {
        const li = document.createElement('li');
        li.textContent = filename;

        li.addEventListener('click', () => {
            // Deselect previous
            const previouslySelected = fileListElement.querySelector('.selected');
            if (previouslySelected) previouslySelected.classList.remove('selected');

            // Select new
            li.classList.add('selected');
            selectedFile = filename;
            loadButton.disabled = false;
            deleteButton.disabled = false;
        });

        fileListElement.appendChild(li);
    }

    playButton.addEventListener('click', () => {
        if (!selectedFile) return;

        const filename = selectedFile;
        console.log("Sanitized filename for delete:", filename);

        const filenameBytes = new TextEncoder().encode(filename);
        const filenameLength = filenameBytes.length;

        // Total size: 2 bytes for length + filename bytes
        const buffer = new ArrayBuffer(2 + filenameLength);
        const view = new DataView(buffer);
        let offset = 0;

        // 🔹 Filename block
        view.setUint16(offset, filenameLength, true); offset += 2;
        filenameBytes.forEach(byte => view.setUint8(offset++, byte));

        const payload = new Uint8Array(buffer);
        //serial.deleteFile(payload); // CMD_DELETE_FILE

        serial.requestPlayFile(payload);
    });

    loadButton.addEventListener('click', () => {
        if (!selectedFile || loadButton.disabled) return;

        const filename = "/" + selectedFile;
        console.log(`Loading file: ${filename}`);

        // 🧷 Lock buttons
        loadButton.disabled = true;
        deleteButton.disabled = true;



        serial.requestFile(filename);
    });


    deleteButton.addEventListener('click', () => {
        if (selectedFile) {
            console.log(`Deleting file: ${selectedFile}`);
            sendDeleteToESP32();

            const selectedLi = fileListElement.querySelector('.selected');
            if (selectedLi) selectedLi.remove();
            selectedFile = null;
            loadButton.disabled = true;
            deleteButton.disabled = true;
        }
    });








    // Timeline

    frameSlider.oninput = () => {
        currentFrame = parseInt(frameSlider.value);
        frameDisplay.textContent = currentFrame;
        isInterpolating = true;

        for (let ch = 0; ch < 5; ch++) {
            const keyframes = dialKeyframes[ch];
            let prevFrame = null, nextFrame = null;

            for (let f = currentFrame; f >= 0; f--) {
                if (keyframes[f] !== undefined) {
                    prevFrame = f;
                    break;
                }
            }
            for (let f = currentFrame; f <= totalFrames; f++) {
                if (keyframes[f] !== undefined) {
                    nextFrame = f;
                    break;
                }
            }

            let value;
            if (prevFrame !== null && nextFrame !== null && prevFrame !== nextFrame) {
                const prevVal = keyframes[prevFrame];
                const nextVal = keyframes[nextFrame];
                const t = (currentFrame - prevFrame) / (nextFrame - prevFrame);
                value = Math.round(prevVal + (nextVal - prevVal) * t);
            } else if (prevFrame !== null) {
                value = keyframes[prevFrame];
            } else if (nextFrame !== null) {
                value = keyframes[nextFrame];
            } else {
                value = 512;
            }

            dials[ch].value = value;
            document.getElementById(`value${ch}`).textContent = value;
        }

        drawTimelineMarkers();
        isInterpolating = false;


        syncMotorsWithTimeline();


    };

    for (let i = 0; i < 5; i++) {
        dials[i] = new Nexus.Dial(`#dial${i}`, {
            size: [80, 80],
            min: 0,
            max: 1023,
            value: 512
        });

        dials[i].colorize("accent", dialColors[i]);

        dials[i].on('change', (v) => {
            if (isInterpolating) return;
            const val = Math.round(v);
            document.getElementById(`value${i}`).textContent = val;
            dialKeyframes[i][currentFrame] = val;
            drawTimelineMarkers();


            syncMotorsWithTimeline();

        });


    }

    function syncMotorsWithTimeline() {
        const now = Date.now();
        if (syncCheckbox.checked && now - lastSyncTime >= syncIntervalMs) {
            lastSyncTime = now;

            const motorPayloads = [];

            for (let ch = 0; ch < dials.length; ch++) {
                const value = dials[ch].value;
                motorPayloads.push({ motorId: ch, position: value });
            }

            const buffer = new ArrayBuffer(motorPayloads.length * 3);
            const view = new DataView(buffer);

            motorPayloads.forEach(({ motorId, position }, i) => {
                const offset = i * 3;
                view.setUint8(offset, motorId);
                view.setUint16(offset + 1, position, true); // little-endian
            });

            const payload = new Uint8Array(buffer);
            serial.sendSetPositions(payload);
        }
    }


    document.querySelectorAll('.dial').forEach(el => {
        el.onclick = () => {
            selectedDial = parseInt(el.dataset.index);

            document.querySelectorAll('.dial').forEach(d => d.classList.remove('selected'));
            el.classList.add('selected');

            drawTimelineMarkers();
        };
    });


    // Connect button
    document.getElementById('connect').addEventListener('click', async () => {
        try {
            await serial.connect();
            statusText.textContent = 'Connected ✅';
            disconnectBtn.hidden = false;
            connectBtn.hidden = true;
            console.log("Serial connected");
            let text = "";
            serial.startReading((command, payload) => {
                switch (command) {
                    case 0x01: // ID response
                        text = new TextDecoder().decode(new Uint8Array(payload));
                        document.getElementById('log').value += `ID Response: ${text}\n`;
                        break;

                    case 0x02: // File response
                        text = new TextDecoder().decode(new Uint8Array(payload));
                        const files = text.trim().split('\n');
                        document.getElementById('log').value += `File list Response: ${files}\n`;
                        clearFileList();

                        files.forEach(filename => {
                            if (filename) addFileToList(filename);
                        });

                        break;
                    case 0x03:  // CMD_LOAD_FILE
                        const fileData = new Uint8Array(payload);
                        console.log(`Received file (${fileData.length} bytes)`);
                        document.getElementById('log').value += `Loaded file\n`;
                        // 🔹 Do something with the file
                        handleLoadedFile(fileData);
                        break;

                    case 0x04:  // CMD_DELETE_FILE
                        console.log(`File deleted`);
                        console.log(new Uint8Array(payload));
                        document.getElementById('log').value += `File deleted\n`;
                        // 🔹 Do something with the file
                        //handleLoadedFile(fileData);
                        serial.requestFileList();
                        break;
                    case 0x05:  // CMD_SAVE_FILE

                        console.log(`Saved file Response Recieved`);
                        console.log(new Uint8Array(payload));
                        document.getElementById('log').value += `Saved file Response Recieved\n`;
                        // 🔹 Do something with the file
                        //handleLoadedFile(fileData);
                        serial.requestFileList();
                        break;

                    case 0x06:  // CMD_MESSAGE

                        console.log(`Message Recieved`);
                        const decoder = new TextDecoder();
                        console.log(payload);
                        const stringPayload = decoder.decode(new Uint8Array(payload));
                        console.log(stringPayload);
                        document.getElementById('log').value += "MSG: " + stringPayload + `\n`;
                        // 🔹 Do something with the file
                        //handleLoadedFile(fileData);
                        break;

                    case 0x07:  // CMD_SET_POSITION
                        console.log(`Positions set`);
                        console.log(new Uint8Array(payload));
                        document.getElementById('log').value += `Positions set\n`;
                        // 🔹 Do something with the file
                        //handleLoadedFile(fileData);
                        break;

                    case 0x08: // CMD_PLAY_FILE
                        console.log(`Anim file played`);
                        console.log(new Uint8Array(payload));
                        document.getElementById('log').value += `Anim file played\n`;
                        break;

                    case 0x09: // CMD_SCAN_CHANNEL
                        console.log(new Uint8Array(payload));
                        handleScanChannelResponse(new Uint8Array(payload))
                        break;

                    case 0x10: // CMD_SCAN_CHANNEL
                        console.log(new Uint8Array(payload));
                        document.getElementById('log').value += `Data updated\n`;
                        //handleScanChannelResponse(new Uint8Array(payload))
                        break;

                    case 0x15: // POSITION STREAM
                        //console.log(new Uint8Array(payload));
                        handlePositionStreamPacket(payload);
                        break;

                    // Add more cases as needed
                    default:
                        document.getElementById('log').value += `Unknown command ${command}\n`;
                        break;
                }
            });


            // 🔹 Send ID request (CMD_ID_REQUEST = 0x01)
            await serial.requestIDPacket();

            await serial.requestFileList(); // or use a constant if defined



        } catch (err) {
            statusText.textContent = 'Connection failed ❌';
            console.error("Connection error:", err);
        }
    });

    function handlePositionStreamPacket(data) {
        for (let i = 0; i < 5; i++) {
            const high = data[i * 2];       // High byte
            const low = data[i * 2 + 1];    // Low byte
            const value = (high << 8) | low; // Combine into uint16_t

            dials[i].value = value;
        }
    }

    function handleLoadedFile(data) {
        const raw = new Uint8Array(data);
        const view = new DataView(raw.buffer);
        let offset = 0;

        // 🔹 Parse header
        const magic = String.fromCharCode(
            view.getUint8(offset),
            view.getUint8(offset + 1),
            view.getUint8(offset + 2),
            view.getUint8(offset + 3)
        );
        offset += 4;

        const frameCount = view.getUint16(offset, true); offset += 2;
        const version = view.getUint8(offset++);
        const frameRate = view.getUint8(offset++);
        offset += 8; // reserved

        if (magic !== "ANIM") {
            console.error("Invalid file format");
            return;
        }

        console.log("🧩 Magic:", magic);
        console.log("🎞️ Frame Count:", frameCount);
        console.log("📦 Version:", version);
        console.log("⏱️ Frame Rate:", frameRate);

        // 🔹 Read curve segment count
        if (offset + 2 > view.byteLength) {
            console.error("File too short to contain curve count");
            return;
        }

        const curveCount = view.getUint16(offset, true);
        offset += 2;


        const SEGMENT_SIZE = 17;
        const curveSets = {};
        let latestEndTime = 1;
        console.log(raw);

        for (let i = 0; i < curveCount; i++) {
            const motorID = 10;
            offset += 1;
            const startTime = view.getUint16(offset, true); offset += 2;
            const endTime = view.getUint16(offset, true); offset += 2;
            const startPointY = view.getInt16(offset, true); offset += 2;
            const startHandleX = view.getUint16(offset, true); offset += 2;
            const startHandleY = view.getInt16(offset, true); offset += 2;
            const endHandleX = view.getUint16(offset, true); offset += 2;
            const endHandleY = view.getInt16(offset, true); offset += 2;
            const endPointY = view.getInt16(offset, true); offset += 2;

            console.log("RECEIVED VALUES RAW:");
            console.log(startTime, endTime, startPointY, endPointY);

            const toFloat = v => (v / 65535) * 2 - 1;

            const curve = {
                startPoint: {
                    x: startTime,
                    y: curveEditor.exportRangeToY(startPointY)
                },
                startPointHandle: {
                    x: startHandleX,
                    y: curveEditor.exportRangeToY(startHandleY)
                },
                endPointHandle: {
                    x: endHandleX,
                    y: curveEditor.exportRangeToY(endHandleY)
                },
                endPoint: {
                    x: endTime,
                    y: curveEditor.exportRangeToY(endPointY)
                }
            };

            if (endTime > latestEndTime) {
                latestEndTime = endTime;
            }

            if (!curveSets[motorID]) {
                curveSets[motorID] = [];
            }
            curveSets[motorID].push(curve);
            console.log(motorID);
        }

        console.log("🎯 Loaded Curves:", curveSets);

        // 🔁 Inject into your curve editor
        //loadCurvesIntoEditor(curves); // Replace with your actual editor hook
        curveEditor.loadCurveSets(curveSets);
        curveEditor.setLength(latestEndTime);


        // 🔓 Unlock buttons
        loadButton.disabled = false;
        deleteButton.disabled = false;

        document.getElementById("filenameInput").value = selectedFile.replace(/\.anim$/i, "");

        drawTimelineMarkers();
    }




    function sanitizeFilename(input) {
        // Remove non-alphanumeric characters
        const stripped = input.replace(/[^a-zA-Z0-9]/g, "");

        // If nothing remains, fallback to default
        const safeName = stripped || "default";

        // Add leading slash and .anim extension
        return "/" + safeName + ".anim";
    }

    async function sendAnimationToESP32() {
        const rawInput = document.getElementById("filenameInput").value;
        const filename = sanitizeFilename(rawInput);
        console.log("Sanitized filename:", filename);

        const frameCount = 800; // or whatever your timeline length is
        const frameRate = 50;
        const version = 1;

        const headerSize = 16;
        const curveSegments = [];

        // 🔹 Collect all curve segments
        Object.entries(curveEditor.curveSets).forEach(([motorIDStr, segments]) => {
            const motorID = parseInt(motorIDStr, 10);
            segments.forEach(segment => {
                const toTime = x => Math.max(0, Math.round(curveEditor.xToValue(x) * 100)); // seconds → centiseconds
                const toUint16 = v => {
                    const normalized = Math.max(-1, Math.min(1, v)); // clamp to [-1, 1]
                    return Math.round((normalized + 1) / 2 * 65535);
                };

                curveSegments.push({
                    motorID,
                    startTime: segment.startPoint.x,
                    endTime: segment.endPoint.x,
                    startPointY: segment.startPoint.y,
                    startHandleX: segment.startPointHandle.x,
                    startHandleY: segment.startPointHandle.y,
                    endHandleX: segment.endPointHandle.x,
                    endHandleY: segment.endPointHandle.y,
                    endPointY: segment.endPoint.y
                });
            });
        });

        const curveCount = curveSegments.length;
        const segmentSize = 17;
        const filenameBytes = new TextEncoder().encode(filename);
        const filenameLength = filenameBytes.length;

        const totalSize = 2 + filenameLength + headerSize + 2 + curveCount * segmentSize;
        const buffer = new ArrayBuffer(totalSize);
        const view = new DataView(buffer);
        let offset = 0;

        // 🔹 Filename block
        view.setUint16(offset, filenameLength, true); offset += 2;
        filenameBytes.forEach(byte => view.setUint8(offset++, byte));

        // 🔹 Header
        view.setUint8(offset++, "A".charCodeAt(0));
        view.setUint8(offset++, "N".charCodeAt(0));
        view.setUint8(offset++, "I".charCodeAt(0));
        view.setUint8(offset++, "M".charCodeAt(0));
        view.setUint16(offset, frameCount, true); offset += 2;
        view.setUint8(offset++, version);
        view.setUint8(offset++, frameRate);
        offset += 8; // reserved

        // 🔹 Curve count
        view.setUint16(offset, curveCount, true); offset += 2;

        // 🔹 Curve segments
        
        curveSegments.forEach(seg => {
            view.setUint8(offset++, seg.motorID);
            view.setUint16(offset, seg.startTime, true); offset += 2;
            view.setUint16(offset, seg.endTime, true); offset += 2;
            view.setInt16(offset, curveEditor.yToExportRange(seg.startPointY), true); offset += 2;
            
        console.log(curveEditor.yToExportRange(seg.startPointY));
            view.setUint16(offset, seg.startHandleX, true); offset += 2;
            view.setInt16(offset, curveEditor.yToExportRange(seg.startHandleY), true); offset += 2;
            view.setUint16(offset, seg.endHandleX, true); offset += 2;
            view.setInt16(offset, curveEditor.yToExportRange(seg.endHandleY), true); offset += 2;
            view.setInt16(offset, curveEditor.yToExportRange(seg.endPointY), true); offset += 2;
        });
        console.log("🧵 Curve segments packed:", curveSegments.length);
        console.log(curveSegments);


        // 🔹 Send to ESP32
        const payload = new Uint8Array(buffer);
        console.log()
        console.log(payload);
        serial.saveFile(payload); // CMD_SAVE_ANIMATION
    }


    async function sendDeleteToESP32() {
        if (!selectedFile) return;

        const filename = selectedFile;
        console.log("Sanitized filename for delete:", filename);

        const filenameBytes = new TextEncoder().encode(filename);
        const filenameLength = filenameBytes.length;

        // Total size: 2 bytes for length + filename bytes
        const buffer = new ArrayBuffer(2 + filenameLength);
        const view = new DataView(buffer);
        let offset = 0;

        // 🔹 Filename block
        view.setUint16(offset, filenameLength, true); offset += 2;
        filenameBytes.forEach(byte => view.setUint8(offset++, byte));

        const payload = new Uint8Array(buffer);
        serial.deleteFile(payload); // CMD_DELETE_FILE
    }


    // Disconnect button
    disconnectBtn.addEventListener('click', () => {
        serial.disconnect();
        statusText.textContent = 'Disconnected';
        disconnectBtn.hidden = true;
        connectBtn.hidden = false;
        console.log("Serial disconnected");
    });


    clearBtn.addEventListener('click', () => {
        currentFrame = 0;
        dialKeyframes = Array.from({ length: 5 }, () => ({}));
        drawTimelineMarkers();
    });


    document.getElementById('send').onclick = async () => {
        const text = document.getElementById('input').value + '\n';
        const encoder = new TextEncoder();
        await writer.write(encoder.encode(text));
        document.getElementById('input').value = '';
    };

    function drawTimelineMarkers() {
        ctx.clearRect(0, 0, canvas.width, canvas.height);
        const width = canvas.width;
        const height = canvas.height;

        // Draw tick marks every 50 frames
        ctx.strokeStyle = '#aaa';
        ctx.lineWidth = 1;
        for (let f = 0; f <= totalFrames; f += 25) {
            const x = (f / totalFrames) * width;
            ctx.beginPath();
            ctx.moveTo(x, height * 0.75); // small tick at bottom
            ctx.lineTo(x, height);
            ctx.stroke();
        }
        for (let f = 0; f <= totalFrames; f += 50) {
            const x = (f / totalFrames) * width;
            ctx.beginPath();
            ctx.moveTo(x, height * 0.65); // small tick at bottom
            ctx.lineTo(x, height);
            ctx.stroke();
        }

        // Draw label on tick marks
        ctx.fillStyle = '#666';
        ctx.font = '10px sans-serif';
        ctx.textAlign = 'center';

        for (let f = 0; f <= totalFrames; f += 50) {
            const x = (f / totalFrames) * width;
            const seconds = f / 50;
            ctx.fillText(seconds.toString() + "s", x, height - 12);
        }


        if (selectedDial !== null) {
            for (let frame in dialKeyframes[selectedDial]) {
                const x = (frame / totalFrames) * width;
                ctx.beginPath();
                ctx.moveTo(x, 0);
                ctx.lineTo(x, height);
                ctx.strokeStyle = dialColors[selectedDial];
                ctx.lineWidth = 2;
                ctx.stroke();
            }
        } else {
            for (let ch = 0; ch < 5; ch++) {
                for (let frame in dialKeyframes[ch]) {
                    const x = (frame / totalFrames) * width;
                    ctx.beginPath();
                    ctx.moveTo(x, 0);
                    ctx.lineTo(x, height);
                    ctx.strokeStyle = dialColors[ch];
                    ctx.lineWidth = 1;
                    ctx.stroke();
                }
            }
        }

        const currentX = (currentFrame / totalFrames) * width;
        ctx.beginPath();
        ctx.moveTo(currentX, 0);
        ctx.lineTo(currentX, height);
        ctx.strokeStyle = 'black';
        ctx.lineWidth = 2;
        ctx.stroke();
    }

    document.addEventListener('click', (e) => {
        const ignoredTags = ['BUTTON', 'INPUT', 'TEXTAREA', 'CANVAS'];
        const clickedInsideDial = e.target.closest('.dial');
        const clickedControl = ignoredTags.includes(e.target.tagName);

        if (!clickedInsideDial && !clickedControl && selectedDial !== null) {
            selectedDial = null;
            document.querySelectorAll('.dial').forEach(el => el.classList.remove('selected'));
            drawTimelineMarkers();
        }

    });

    canvas.addEventListener('mousedown', (e) => {
        const x = e.offsetX;
        const dialIndices = selectedDial !== null ? [selectedDial] : [0, 1, 2, 3, 4];

        for (let ch of dialIndices) {
            for (let f in dialKeyframes[ch]) {
                const frameNum = parseInt(f);
                const fx = (frameNum / totalFrames) * canvas.width;

                if (Math.abs(fx - x) < 15) {
                    draggingKeyframe = { dialIndex: ch, originalFrame: frameNum };
                    isDragging = true;
                    return;
                }
            }
        }
    });


    canvas.addEventListener('mousemove', (e) => {
        if (!isDragging || !draggingKeyframe) return;

        const x = e.offsetX;
        const newFrame = Math.max(0, Math.min(totalFrames - 1, Math.round((x / canvas.width) * totalFrames)));

        const { dialIndex, originalFrame } = draggingKeyframe;
        const value = dialKeyframes[dialIndex][originalFrame];

        if (newFrame !== originalFrame) {
            delete dialKeyframes[dialIndex][originalFrame];
            dialKeyframes[dialIndex][newFrame] = value;
            draggingKeyframe.originalFrame = newFrame;
            drawTimelineMarkers();
        }
    });


    canvas.addEventListener('mouseup', () => {
        isDragging = false;
        draggingKeyframe = null;
        syncMotorsWithTimeline();
    });

    canvas.addEventListener('dblclick', (e) => {
        const x = e.offsetX;
        const frame = Math.round((x / canvas.width) * totalFrames);
        const dialIndices = selectedDial !== null ? [selectedDial] : [0, 1, 2, 3, 4];

        for (let ch of dialIndices) {
            if (dialKeyframes[ch][frame] !== undefined) {
                delete dialKeyframes[ch][frame];
                drawTimelineMarkers();
            }
        }
    });



    document.getElementById('saveAnimation').onclick = async () => {
        await sendAnimationToESP32();

    };

    drawTimelineMarkers();






    // MOTOR CONTROL PANEL

    function insertTableRow(motor) {
        const tableId = motor.CHANNEL === 0 ? 'channel0-motor-table' :
            motor.CHANNEL === 1 ? 'channel1-motor-table' : null;

        if (!tableId) {
            console.error('Invalid channel number. Use 0 or 1.');
            return;
        }

        const tbody = document.querySelector(`#${tableId} tbody`);
        const newRow = document.createElement('tr');
        newRow.setAttribute('data-row-id', motor.ID);

        const cells = [
            motor.MODEL,
            motor.ID,
            motor.MIN_ANGLE_LIMIT,
            motor.MAX_ANGLE_LIMIT,
            motor.POSITION,
            motor.CW_DEAD_ZONE,
            motor.CCW_DEAD_ZONE,
            motor.OFFSET,
            motor.MODE,
            motor.TORQUE_ENABLE,
            motor.ACCELERATION,
            motor.GOAL_POSITION,
            motor.GOAL_TIME,
            motor.GOAL_SPEED,
            motor.LOCK,
            motor.CURRENT_SPEED,
            motor.CURRENT_LOAD,
            motor.TEMPERATURE,
            motor.MOVING,
            motor.CURRENT_CURRENT,
            motor.VOLTAGE
        ];

        const modelType = motor.MODEL.startsWith('SCS') ? 'SCS' :
            motor.MODEL.startsWith('STS') ? 'STS' : null;

        const rangeMin = 0;
        const rangeMax = modelType === 'SCS' ? 1023 :
            modelType === 'STS' ? 4095 : 180;

        cells.forEach((value, index) => {
            const td = document.createElement('td');
            td.textContent = value;

            if (index === 0) {
                td.classList.add('non-editable');
            } else {
                td.classList.add('editable-cell');
                td.setAttribute('contenteditable', 'true');
                td.setAttribute('data-type', 'number');

                if (index === 1) {
                    td.setAttribute('data-min', '0');
                    td.setAttribute('data-max', '255');
                } else if (index === 9) { // TORQUE ENABLE
                    td.setAttribute('data-min', '0');
                    td.setAttribute('data-max', '1');
                } else if (index === 14) { // EEPROM LOCK
                    td.setAttribute('data-min', '0');
                    td.setAttribute('data-max', '1');
                } else {
                    td.setAttribute('data-min', rangeMin.toString());
                    td.setAttribute('data-max', rangeMax.toString());
                }

                td.addEventListener('input', function () {
                    const type = td.getAttribute('data-type');
                    const min = parseFloat(td.getAttribute('data-min'));
                    const max = parseFloat(td.getAttribute('data-max'));
                    let value = td.textContent.trim();

                    if (type === 'number') {
                        let num = parseFloat(value);

                        if (value === '' || isNaN(num)) {
                            num = min;
                            preserveCursor(td, num.toString(), true);
                        } else {
                            if (num < min) num = min;
                            if (num > max) num = max;
                            preserveCursor(td, num.toString());
                        }

                        td.classList.add('edited');
                        td.classList.add('bg-warning');
                        td.title = `Auto-corrected to ${num}`;
                    }

                    console.log("EDITED");
                });
            }

            newRow.appendChild(td);
        });

        tbody.appendChild(newRow);
    }



    function collectChangePackets(channel) {
        const tableId = channel === 0 ? 'channel0-motor-table' :
            channel === 1 ? 'channel1-motor-table' : null;

        const editedCells = document.querySelectorAll(`#${tableId} td.edited`);
        const packets = [];

        editedCells.forEach(cell => {
            const row = cell.closest('tr');
            const rowId = row.getAttribute('data-row-id');
            const title = getColumnTitle(cell);
            const value = cell.textContent.trim();

            packets.push({
                id: rowId,
                title,
                value
            });

            // Remove the classes
            cell.classList.remove('edited', 'bg-warning');
        });

        return packets;
    }


    function getColumnTitle(cell) {
        const table = cell.closest('table');
        const cellIndex = cell.cellIndex;

        const headerRow = table.querySelector('thead tr');
        const headerCell = headerRow.children[cellIndex];

        return headerCell.dataset.key || headerCell.textContent.trim();
    }






    function preserveCursor(td, newText, forceEnd = false) {
        const selection = window.getSelection();
        let cursorOffset = 0;

        if (!forceEnd && selection.rangeCount > 0 && selection.anchorNode === td.firstChild) {
            const range = selection.getRangeAt(0);
            cursorOffset = range.startOffset;
        }

        td.textContent = newText;

        const newRange = document.createRange();
        const offset = forceEnd ? newText.length : Math.min(cursorOffset, newText.length);
        newRange.setStart(td.firstChild, offset);
        newRange.collapse(true);

        selection.removeAllRanges();
        selection.addRange(newRange);
    }

    function getServoMotorByID(channel, id) {
        for (var i = 0; i < servoMotors[channel].length; i++) {
            console.log(servoMotors[channel][i].ID, id);
            if (servoMotors[channel][i].ID === id) {
                return servoMotors[channel][i];
            }
        }
        return null;
    }

    document.getElementById('btn_scan_channel_0').onclick = async () => {
        // Clear table
        document.querySelector("#channel0-motor-table tbody").innerHTML = "";
        servoMotors[0] = [];

        await serial.requestScan(0);
    };

    document.getElementById('btn_scan_channel_1').onclick = async () => {
        // Clear table

        servoMotors[1] = [];
        document.querySelector("#channel1-motor-table tbody").innerHTML = "";

        await serial.requestScan(1);
    };

    document.getElementById('btnSendChangesCh0').onclick = async () => {

        const packets = collectChangePackets(0); // or 2
        for (var i = 0; i < packets.length; i++) {
            let channel = 0
            let servoMotor = getServoMotorByID(channel, parseInt(packets[i].id, 10));
            let dataKey = packets[i].title;
            let value = packets[i].value;
            servoMotor[dataKey] = value;
            let dataPacket = writeData(servoMotor, dataKey);
            serial.requestWriteData(dataPacket);
        }
        console.log(servoMotors);
        console.log('Sending packets:', packets);
    };

    document.getElementById('btnSendChangesCh1').onclick = async () => {

        const packets = collectChangePackets(1); // or 2
        for (var i = 0; i < packets.length; i++) {
            let channel = 1
            let servoMotor = getServoMotorByID(channel, parseInt(packets[i].id, 10));
            let dataKey = packets[i].title;
            let value = packets[i].value;
            servoMotor[dataKey] = value;
            let dataPacket = writeData(servoMotor, dataKey);
            serial.requestWriteData(dataPacket);
        }
        console.log(servoMotors);
        console.log('Sending packets:', packets);
    };

    function handleScanChannelResponse(payload) {
        console.log("received motor info packet: " + payload);

        if (payload.length == 2) {
            if (payload[1] == 255) {
                console.log("SCAN COMPLETE");
                document.getElementById('log').value += `Scan Complete\n`;
                return;
            }
        } else if (payload.length != 33) {
            console.log("ERROR: INCORRECT PACKET SIZE: " + payload.length);
            return;
        }
        const motor = new ServoMotor(payload);
        console.log(motor.MODEL, motor.POSITION, motor.CURRENT_SPEED);
        servoMotors[motor.CHANNEL].push(motor);

        insertTableRow(motor);

    }



    feebackCheckbox.addEventListener('change', async function () {
        if (feebackCheckbox.checked) {
            console.log("Checkbox is checked!");
            serial.requestPositionStreaming(true);
        } else {
            console.log("Checkbox is unchecked!");
            serial.requestPositionStreaming(false);
        }
    });


    function matchPositions() {
        // if (feebackCheckbox.checked) {
        //     console.log("Running every 100ms");
        // }
    }

    // Run 10 times per second
    const intervalId = setInterval(matchPositions, 100);
};