import { Type } from "@sinclair/typebox";
import type { OpenClawPluginApi } from "../plugin-api.js";
import type { AgenticROSConfig } from "@agenticros/core";
import { toNamespacedTopic, checkActionGoalSafety } from "@agenticros/core";
import { getTransportForRobot } from "../service.js";
import { ROBOT_ID_SCHEMA, resolveRobotForTool } from "./_robot-helpers.js";

/**
 * Register the ros2_action_goal tool with the AI agent.
 * Sends action goals with progress feedback streaming.
 */
export function registerActionTool(api: OpenClawPluginApi, config: AgenticROSConfig): void {
  api.registerTool({
    name: "ros2_action_goal",
    label: "ROS2 Action Goal",
    description:
      "Send a goal to a ROS2 action server and stream feedback. " +
      "Use this for long-running operations like navigation or arm movements. " +
      "Pass robot_id (from ros2_list_robots) to target a specific robot.",
    parameters: Type.Object({
      action: Type.String({ description: "The ROS2 action server name (e.g., '/navigate_to_pose')" }),
      actionType: Type.String({ description: "The ROS2 action type (e.g., 'nav2_msgs/action/NavigateToPose')" }),
      goal: Type.Record(Type.String(), Type.Unknown(), {
        description: "The action goal parameters",
      }),
      ...ROBOT_ID_SCHEMA,
    }),

    async execute(_toolCallId, params) {
      const resolved = resolveRobotForTool(config, params);
      if ("error" in resolved) return resolved.error;
      const { robot } = resolved;

      const rawAction = params["action"] as string;
      const action = toNamespacedTopic(robot.namespace, rawAction);
      const actionType = params["actionType"] as string;
      const goal = params["goal"] as Record<string, unknown>;
      const fence = checkActionGoalSafety(config, { goal }, robot);
      if (fence.block) {
        return {
          content: [{ type: "text", text: fence.blockReason ?? "Blocked by safety." }],
          details: { success: false, error: fence.blockReason },
        };
      }

      const transport = await getTransportForRobot(config, robot);
      const actionResult = await transport.sendActionGoal({
        action,
        actionType,
        args: goal,
      });

      const result = {
        success: actionResult.result,
        action,
        result: actionResult.values,
      };
      return {
        content: [{ type: "text", text: JSON.stringify(result) }],
        details: result,
      };
    },
  });
}