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

/**
 * Register ros2_param_get and ros2_param_set tools with the AI agent.
 */
export function registerParamTools(api: OpenClawPluginApi, config: AgenticROSConfig): void {
  api.registerTool({
    name: "ros2_param_get",
    label: "ROS2 Get Parameter",
    description:
      "Get the value of a ROS2 parameter from a node. " +
      "Use this to check robot configuration values. " +
      "Pass robot_id (from ros2_list_robots) to target a specific robot.",
    parameters: Type.Object({
      node: Type.String({ description: "The fully qualified node name (e.g., '/turtlebot3/controller')" }),
      parameter: Type.String({ description: "The parameter name (e.g., 'max_velocity')" }),
      ...ROBOT_ID_SCHEMA,
    }),

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

      const rawNode = params["node"] as string;
      const node = toNamespacedTopic(robot.namespace, rawNode);
      const parameter = params["parameter"] as string;

      const transport = await getTransportForRobot(config, robot);
      const response = await transport.callService({
        service: `${node}/get_parameters`,
        type: "rcl_interfaces/srv/GetParameters",
        args: { names: [parameter] },
      });

      const result = {
        success: response.result,
        node,
        parameter,
        value: response.values,
      };
      return {
        content: [{ type: "text", text: JSON.stringify(result) }],
        details: result,
      };
    },
  });

  api.registerTool({
    name: "ros2_param_set",
    label: "ROS2 Set Parameter",
    description:
      "Set the value of a ROS2 parameter on a node. " +
      "Use this to change robot configuration at runtime. " +
      "Pass robot_id (from ros2_list_robots) to target a specific robot.",
    parameters: Type.Object({
      node: Type.String({ description: "The fully qualified node name" }),
      parameter: Type.String({ description: "The parameter name" }),
      value: Type.Unknown({ description: "The new parameter value" }),
      ...ROBOT_ID_SCHEMA,
    }),

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

      const rawNode = params["node"] as string;
      const node = toNamespacedTopic(robot.namespace, rawNode);
      const parameter = params["parameter"] as string;
      const value = params["value"];

      const transport = await getTransportForRobot(config, robot);
      const response = await transport.callService({
        service: `${node}/set_parameters`,
        type: "rcl_interfaces/srv/SetParameters",
        args: {
          parameters: [
            { name: parameter, value },
          ],
        },
      });

      const result = {
        success: response.result,
        node,
        parameter,
      };
      return {
        content: [{ type: "text", text: JSON.stringify(result) }],
        details: result,
      };
    },
  });
}