#!/usr/bin/env python3
"""实时监听遥控器状态 (按键 + 摇杆 + L2).

用法: python examples/monitor_remote.py --duration 60
"""
import argparse
import signal
import sys
import time

from go1_pro_sdk import MCUClient, LowCmd

running = True


def sigint(s, f):
    global running
    running = False


def main():
    p = argparse.ArgumentParser()
    p.add_argument('--state', default=None)
    p.add_argument('--duration', type=float, default=60)
    p.add_argument('--raw', action='store_true')
    args = p.parse_args()
    signal.signal(signal.SIGINT, sigint)

    with MCUClient(state_path=args.state) as client:
        recv = client.wake_mcu(50)
        if recv == 0:
            print('❌ 无回包')
            return 1

        damping = LowCmd().all_damping()
        last_btn = 0
        last_print = 0
        start = time.time()

        print(f'📡 监听遥控器 {args.duration}s, Ctrl+C 退出\n')

        while running and time.time() - start < args.duration:
            client.send(damping)
            time.sleep(0.005)
            state = client.recv_latest()
            if state is None:
                continue

            r = state.remote
            now = time.time()

            # 按键事件
            if r.btn != last_btn:
                pressed_now = set(r.pressed)
                pressed_before = set(n for m, n in __import__('go1_pro_sdk').BUTTON_NAMES if last_btn & m)
                just_p = pressed_now - pressed_before
                just_r = pressed_before - pressed_now
                if just_p:
                    print(f"[{now-start:6.2f}s] ⬇ {'+'.join(sorted(just_p))}")
                if just_r:
                    print(f"[{now-start:6.2f}s] ⬆ {'+'.join(sorted(just_r))}")
                last_btn = r.btn

            # 摇杆 (0.2s 一次)
            if now - last_print > 0.2:
                active = (abs(r.lx) > 0.02 or abs(r.ly) > 0.02 or
                          abs(r.rx) > 0.02 or abs(r.ry) > 0.02 or r.L2 > 0.02)
                if active:
                    print(f'[{now-start:6.2f}s] L=({r.lx:+.2f},{r.ly:+.2f}) '
                          f'R=({r.rx:+.2f},{r.ry:+.2f}) L2={r.L2:+.2f}'
                          + (f'  raw={state.wirelessRemote.hex()}' if args.raw else ''))
                    last_print = now

        print('\n✅ 退出')


if __name__ == '__main__':
    sys.exit(main() or 0)