twinleaf_tools/tools/

monitor.rs

// tio monitor
// Live sensor data display with plot and FFT capabilities
// Build: cargo run --release -- <tio-url> [options]

use std::{
    collections::{BTreeMap, HashMap, HashSet},
    fs::File,
    io::{self, Read},
    str::FromStr,
    time::{Duration, Instant},
};

use crate::tui::rpc_palette::{PaletteEvent, RpcPalette, RpcReq};
use crate::tui::rpc_worker::{spawn_rpc_worker, RpcWorkerReq, RpcWorkerResp};
use crate::tui::tree_worker::spawn_tree_worker;
use crate::TioOpts;
use clap::Parser;
use crossbeam::channel::{self, Sender};
use ratatui::{
    crossterm::event::{self, Event, KeyCode, KeyEventKind, KeyModifiers},
    layout::{Constraint, Direction, Layout, Rect},
    style::{Color, Modifier, Style},
    symbols,
    text::{Line, Span},
    widgets::{Axis, Block, Borders, Chart, Dataset, GraphType, Paragraph},
    DefaultTerminal, Frame,
};
use toml_edit::{DocumentMut, InlineTable, Value};
use twinleaf::{
    data::{AlignedWindow, Buffer, ColumnBatch, ColumnData, DeviceFullMetadata, Sample},
    device::{DeviceEvent, DeviceTree, RpcClient, RpcList, RpcRegistry, TreeEvent, TreeItem},
    tio::{
        self,
        proto::{
            identifiers::{ColumnKey, StreamKey},
            DeviceRoute, ProxyStatus,
        },
    },
};
use welch_sde::{Build, SpectralDensity};

const MIN_PLOT_WINDOW_SECONDS: f64 = 0.5;
const MAX_PLOT_WINDOW_SECONDS: f64 = 60.0;
const PLOT_WINDOW_FINE_STEP_SECONDS: f64 = 0.5;
const PLOT_WINDOW_COARSE_STEP_SECONDS: f64 = 5.0;
const MIN_FFT_SAMPLES: usize = 60;
const MONITOR_BUFFER_CAPACITY_SAMPLES: usize = 2_000_000;
const WELCH_DEFAULT_SEGMENTS: usize = 4;
const WELCH_DEFAULT_OVERLAP: f64 = 0.5;
const WELCH_DFT_MAX_SIZE: usize = 4096;

#[derive(Parser, Debug)]
#[command(name = "tio-monitor", version, about = "Display live sensor data")]
struct Cli {
    #[command(flatten)]
    tio: TioOpts,
    #[arg(short = 'a', long = "all")]
    all: bool,
    #[arg(long = "fps", default_value_t = 20)]
    fps: u32,
    #[arg(short = 'c', long = "colors")]
    colors: Option<String>,
}

#[derive(Debug, Clone)]
pub enum NavPos {
    EmptyDevice {
        device_idx: usize,
        route: DeviceRoute,
    },
    Column {
        device_idx: usize,
        stream_idx: usize,
        spec: ColumnKey,
    },
}

impl NavPos {
    pub fn device_idx(&self) -> usize {
        match self {
            NavPos::EmptyDevice { device_idx, .. } => *device_idx,
            NavPos::Column { device_idx, .. } => *device_idx,
        }
    }

    pub fn route(&self) -> &DeviceRoute {
        match self {
            NavPos::EmptyDevice { route, .. } => route,
            NavPos::Column { spec, .. } => &spec.route,
        }
    }

    pub fn stream_idx(&self) -> Option<usize> {
        match self {
            NavPos::EmptyDevice { .. } => None,
            NavPos::Column { stream_idx, .. } => Some(*stream_idx),
        }
    }

    pub fn column_idx(&self) -> Option<usize> {
        match self {
            NavPos::EmptyDevice { .. } => None,
            NavPos::Column { spec, .. } => Some(spec.column_id),
        }
    }

    pub fn spec(&self) -> Option<&ColumnKey> {
        match self {
            NavPos::EmptyDevice { .. } => None,
            NavPos::Column { spec, .. } => Some(spec),
        }
    }
}

#[derive(Debug, Clone, Default)]
pub struct Nav {
    pub idx: usize,
}

impl Nav {
    /// Up/Down: linear traversal through flattened tree
    pub fn step_linear(&mut self, items: &[NavPos], backward: bool) {
        if items.is_empty() {
            return;
        }
        let len = items.len();
        self.idx = if backward {
            (self.idx + len - 1) % len
        } else {
            (self.idx + 1) % len
        };
    }

    /// Left/Right: cycle within current stream's columns
    pub fn step_within_stream(&mut self, items: &[NavPos], backward: bool) {
        if items.is_empty() {
            return;
        }
        let cur = &items[self.idx];
        let (dev, stream) = match cur {
            NavPos::EmptyDevice { .. } => return,
            NavPos::Column {
                device_idx,
                stream_idx,
                ..
            } => (*device_idx, *stream_idx),
        };

        let siblings: Vec<usize> = items
            .iter()
            .enumerate()
            .filter_map(|(i, pos)| match pos {
                NavPos::Column {
                    device_idx,
                    stream_idx,
                    ..
                } if *device_idx == dev && *stream_idx == stream => Some(i),
                _ => None,
            })
            .collect();

        if let Some(pos) = siblings.iter().position(|&i| i == self.idx) {
            let len = siblings.len();
            let new_pos = if backward {
                (pos + len - 1) % len
            } else {
                (pos + 1) % len
            };
            self.idx = siblings[new_pos];
        }
    }

    /// Tab: jump to next/prev device, find best matching position
    pub fn step_device(&mut self, items: &[NavPos], backward: bool) {
        if items.is_empty() {
            return;
        }

        let cur = &items[self.idx];
        let cur_device = cur.device_idx();
        let cur_stream = cur.stream_idx().unwrap_or(0);
        let cur_column = cur.column_idx().unwrap_or(0);

        // Find all unique device indices
        let mut device_indices: Vec<usize> = items.iter().map(|p| p.device_idx()).collect();
        device_indices.sort();
        device_indices.dedup();

        if device_indices.len() <= 1 {
            return;
        }

        // Find current device position and move to next/prev
        let dev_pos = device_indices
            .iter()
            .position(|&d| d == cur_device)
            .unwrap_or(0);
        let len = device_indices.len();
        let new_dev_pos = if backward {
            (dev_pos + len - 1) % len
        } else {
            (dev_pos + 1) % len
        };
        let target_device = device_indices[new_dev_pos];

        // Find best match on target device
        self.idx = items
            .iter()
            .enumerate()
            .filter(|(_, pos)| pos.device_idx() == target_device)
            .map(|(i, pos)| {
                let dist = match pos {
                    NavPos::EmptyDevice { .. } => (0, 0),
                    NavPos::Column {
                        stream_idx, spec, ..
                    } => {
                        let s = (*stream_idx as isize - cur_stream as isize).abs();
                        let c = (spec.column_id as isize - cur_column as isize).abs();
                        (s, c)
                    }
                };
                (i, dist)
            })
            .min_by_key(|&(_, dist)| dist)
            .map(|(i, _)| i)
            .unwrap_or(self.idx);
    }

    pub fn home(&mut self, items: &[NavPos]) {
        if !items.is_empty() {
            self.idx = 0;
        }
    }

    pub fn end(&mut self, items: &[NavPos]) {
        if !items.is_empty() {
            self.idx = items.len() - 1;
        }
    }
}

#[derive(Debug, Clone, Default)]
pub struct Theme {
    pub value_bounds: HashMap<String, (std::ops::RangeInclusive<f64>, bool)>,
}

impl Theme {
    pub fn get_value_color(&self, stream: &str, col: &str, val: f64) -> Option<Color> {
        if val.is_nan() {
            return Some(Color::Yellow);
        }
        let key = format!("{}.{}", stream, col);
        if let Some((range, is_temp)) = self.value_bounds.get(&key) {
            if val < *range.start() {
                Some(if *is_temp { Color::Blue } else { Color::Red })
            } else if val > *range.end() {
                Some(Color::Red)
            } else {
                Some(Color::Green)
            }
        } else {
            None
        }
    }
}

pub struct StyleContext {
    pub is_selected: bool,
    pub is_stale: bool,
    pub in_plot_mode: bool,
    pub base_color: Color,
}

impl Default for StyleContext {
    fn default() -> Self {
        Self {
            is_selected: false,
            is_stale: false,
            in_plot_mode: false,
            base_color: Color::Reset,
        }
    }
}

impl StyleContext {
    pub fn new() -> Self {
        Self::default()
    }
    pub fn selected(mut self, yes: bool) -> Self {
        self.is_selected = yes;
        self
    }
    pub fn stale(mut self, yes: bool) -> Self {
        self.is_stale = yes;
        self
    }
    pub fn plot_mode(mut self, yes: bool) -> Self {
        self.in_plot_mode = yes;
        self
    }
    pub fn color(mut self, c: Color) -> Self {
        self.base_color = c;
        self
    }

    pub fn resolve(&self) -> Style {
        let mut s = Style::default().fg(self.base_color);
        if self.is_stale {
            s = s.add_modifier(Modifier::DIM);
        }
        if self.is_selected {
            s = s.add_modifier(Modifier::BOLD);
            if !self.in_plot_mode {
                s = s.add_modifier(Modifier::RAPID_BLINK);
            }
        }
        s
    }
}

#[derive(Debug, Clone, Default)]
pub struct DeviceStatus {
    pub last_heartbeat: Option<Instant>,
    pub connected: bool,
}

impl DeviceStatus {
    pub fn on_heartbeat(&mut self) {
        self.last_heartbeat = Some(Instant::now());
        self.connected = true;
    }

    pub fn is_alive(&self, timeout: Duration) -> bool {
        self.last_heartbeat
            .map(|t| t.elapsed() < timeout)
            .unwrap_or(false)
    }
}

#[derive(Debug, Clone, PartialEq)]
pub enum Mode {
    Normal,
    Command,
}

#[derive(Debug, Clone)]
pub enum Action {
    Quit,
    SetMode(Mode),
    ExecuteRpc(RpcReq),
    SelectRoute(DeviceRoute),
    NavUp,
    NavDown,
    NavLeft,
    NavRight,
    NavTabNext,
    NavTabPrev,
    NavScroll(i16),
    NavHome,
    NavEnd,
    TogglePlot,
    ClosePlot,
    ToggleFft,
    ToggleFooter,
    ToggleRoutes,
    AdjustWindow(f64),
    AdjustPlotWidth(i16),
    AdjustPrecision(i8),
}

#[derive(Debug, Clone)]
pub struct ViewConfig {
    pub show_plot: bool,
    pub show_footer: bool,
    pub show_routes: bool,
    pub show_fft: bool,
    pub plot_window_seconds: f64,
    pub plot_width_percent: u16,
    pub axis_precision: usize,
    pub follow_selection: bool,
    pub scroll: u16,
    pub desc_width: usize,
    pub units_width: usize,
    pub theme: Theme,
}

impl Default for ViewConfig {
    fn default() -> Self {
        Self {
            show_plot: false,
            show_footer: true,
            show_routes: false,
            show_fft: false,
            plot_window_seconds: 5.0,
            plot_width_percent: 70,
            axis_precision: 3,
            follow_selection: true,
            scroll: 0,
            desc_width: 0,
            units_width: 0,
            theme: Theme::default(),
        }
    }
}

pub struct FftReadyData {
    pub points: Vec<(f64, f64)>,
    pub median_asd: f64,
    pub sample_count: usize,
    pub total_sample_count: usize,
    pub sampling_hz: f64,
    pub segment_size: usize,
    pub hop_size: usize,
}

pub enum FftStatus {
    Ready(FftReadyData),
    WaitingForSelection,
    WaitingForSamples,
    InvalidSampleRate {
        sampling_rate: u32,
        decimation: u32,
    },
    TooFewSamples {
        have: usize,
        need: usize,
        sampling_hz: f64,
        window_seconds: f64,
    },
    NoValidFrequencyBins {
        sample_count: usize,
        sampling_hz: f64,
    },
}

pub struct App {
    pub depth_limit: Option<usize>,
    pub parent_route: DeviceRoute,
    pub mode: Mode,
    pub view: ViewConfig,

    pub nav: Nav,
    pub nav_items: Vec<NavPos>,

    pub discovered_routes: HashSet<DeviceRoute>,
    pub device_status: HashMap<DeviceRoute, DeviceStatus>,
    pub last: BTreeMap<StreamKey, (Sample, Instant)>,
    pub device_metadata: HashMap<DeviceRoute, DeviceFullMetadata>,
    pub window_aligned: Option<AlignedWindow>,

    pub footer_height: u16,
    pub rpc_registries: HashMap<DeviceRoute, RpcRegistry>,
    pub palette: RpcPalette,
    pub blink_state: bool,
    pub last_blink: Instant,
}

impl App {
    pub fn new(depth_limit: Option<usize>, parent_route: &DeviceRoute) -> Self {
        Self {
            depth_limit,
            parent_route: parent_route.clone(),
            mode: Mode::Normal,
            view: ViewConfig::default(),
            nav: Nav::default(),
            nav_items: Vec::new(),
            discovered_routes: HashSet::new(),
            device_status: HashMap::new(),
            last: BTreeMap::new(),
            device_metadata: HashMap::new(),
            window_aligned: None,
            footer_height: 0,
            rpc_registries: HashMap::new(),
            palette: RpcPalette::default(),
            blink_state: true,
            last_blink: Instant::now(),
        }
    }

    fn update(&mut self, action: Action, rpc_tx: &Sender<RpcWorkerReq>) -> bool {
        match action {
            Action::Quit => return true,
            Action::SetMode(Mode::Command) => {
                let route = self.current_route();
                let registry = self.rpc_registries.get(&route);
                self.palette.enter(registry);
                self.mode = Mode::Command;
            }
            Action::SetMode(Mode::Normal) => {
                self.mode = Mode::Normal;
                self.palette.exit();
            }
            Action::ExecuteRpc(req) => {
                let _ = rpc_tx.send(RpcWorkerReq::Execute(req));
            }
            Action::SelectRoute(route) => {
                self.view.follow_selection = true;
                if let Some(idx) = self.nav_items.iter().position(|p| p.route() == &route) {
                    self.nav.idx = idx;
                }
                let registry = self.rpc_registries.get(&route);
                self.palette.update_suggestions(registry);
            }
            Action::NavUp => {
                self.view.follow_selection = true;
                self.nav.step_linear(&self.nav_items, true);
            }
            Action::NavDown => {
                self.view.follow_selection = true;
                self.nav.step_linear(&self.nav_items, false);
            }
            Action::NavLeft => {
                self.view.follow_selection = true;
                self.nav.step_within_stream(&self.nav_items, true);
            }
            Action::NavRight => {
                self.view.follow_selection = true;
                self.nav.step_within_stream(&self.nav_items, false);
            }
            Action::NavTabNext => {
                self.view.follow_selection = true;
                self.nav.step_device(&self.nav_items, false);
            }
            Action::NavTabPrev => {
                self.view.follow_selection = true;
                self.nav.step_device(&self.nav_items, true);
            }
            Action::NavScroll(delta) => {
                self.view.follow_selection = false;
                self.view.scroll = if delta < 0 {
                    self.view.scroll.saturating_sub(delta.abs() as u16)
                } else {
                    self.view.scroll.saturating_add(delta as u16)
                };
            }
            Action::NavHome => {
                self.view.follow_selection = true;
                self.nav.home(&self.nav_items);
            }
            Action::NavEnd => {
                self.view.follow_selection = true;
                self.nav.end(&self.nav_items);
            }
            Action::TogglePlot => {
                if self.current_selection().is_some() {
                    self.view.show_plot = !self.view.show_plot;
                }
            }
            Action::ClosePlot => {
                self.view.show_plot = false;
            }
            Action::ToggleFft => {
                if self.view.show_plot {
                    self.view.show_fft = !self.view.show_fft;
                }
            }
            Action::ToggleFooter => self.view.show_footer = !self.view.show_footer,
            Action::ToggleRoutes => self.view.show_routes = !self.view.show_routes,
            Action::AdjustWindow(d) => {
                self.view.plot_window_seconds = (self.view.plot_window_seconds + d)
                    .clamp(MIN_PLOT_WINDOW_SECONDS, MAX_PLOT_WINDOW_SECONDS)
            }
            Action::AdjustPlotWidth(d) => {
                self.view.plot_width_percent =
                    (self.view.plot_width_percent as i16 + d).clamp(20, 90) as u16
            }
            Action::AdjustPrecision(delta) => {
                let new_p = self.view.axis_precision as i16 + delta as i16;
                self.view.axis_precision = new_p.clamp(0, 5) as usize;
            }
        }
        false
    }

    fn update_rpclists(&mut self, list: RpcList) {
        let route = list.route.clone();
        let registry = RpcRegistry::from(&list);
        self.rpc_registries.insert(route.clone(), registry);
        if self.mode == Mode::Command && self.current_route() == route {
            let registry = self.rpc_registries.get(&route);
            self.palette.update_suggestions(registry);
        }
    }

    pub fn visible_routes(&self) -> Vec<DeviceRoute> {
        let mut routes: Vec<_> = self
            .discovered_routes
            .iter()
            .filter(|r| match self.parent_route.relative_route(r) {
                Ok(rel) => self.depth_limit.map_or(true, |max| rel.len() <= max),
                Err(_) => false,
            })
            .cloned()
            .collect();
        routes.sort();
        routes
    }

    pub fn rebuild_nav_items(&mut self) {
        let prev_selection = self.nav_items.get(self.nav.idx).cloned();

        let routes = self.visible_routes();
        let mut new_items = Vec::new();

        for (dev_idx, route) in routes.iter().enumerate() {
            let mut stream_ids: Vec<_> = self
                .last
                .keys()
                .filter(|k| &k.route == route)
                .map(|k| k.stream_id)
                .collect();
            stream_ids.sort();
            stream_ids.dedup();

            if stream_ids.is_empty() {
                new_items.push(NavPos::EmptyDevice {
                    device_idx: dev_idx,
                    route: route.clone(),
                });
            } else {
                for (stream_idx, sid) in stream_ids.iter().enumerate() {
                    let key = StreamKey::new(route.clone(), *sid);
                    if let Some((sample, _)) = self.last.get(&key) {
                        for (column_idx, _) in sample.columns.iter().enumerate() {
                            new_items.push(NavPos::Column {
                                device_idx: dev_idx,
                                stream_idx,
                                spec: ColumnKey {
                                    route: route.clone(),
                                    stream_id: *sid,
                                    column_id: column_idx,
                                },
                            });
                        }
                    }
                }
            }
        }

        self.nav_items = new_items;

        if self.nav_items.is_empty() {
            self.nav.idx = 0;
            return;
        }

        // Preserve the previous selection by identity when possible; positional
        // idx shifts if new items appear in front of it on the next rebuild.
        self.nav.idx = prev_selection
            .and_then(|prev| {
                let prev_spec = prev.spec().cloned();
                let prev_route = prev.route().clone();
                self.nav_items
                    .iter()
                    .position(|pos| match (&prev_spec, pos.spec()) {
                        (Some(a), Some(b)) => a == b,
                        (None, _) => pos.route() == &prev_route,
                        _ => false,
                    })
            })
            .unwrap_or_else(|| self.nav.idx.min(self.nav_items.len() - 1));
    }

    pub fn current_pos(&self) -> Option<&NavPos> {
        self.nav_items.get(self.nav.idx)
    }

    pub fn current_selection(&self) -> Option<ColumnKey> {
        self.current_pos().and_then(|p| p.spec().cloned())
    }

    pub fn current_route(&self) -> DeviceRoute {
        self.current_pos()
            .map(|p| p.route().clone())
            .unwrap_or_else(|| self.parent_route.clone())
    }

    pub fn current_device_index(&self) -> usize {
        self.current_pos().map(|p| p.device_idx()).unwrap_or(0)
    }

    pub fn device_count(&self) -> usize {
        self.visible_routes().len()
    }

    fn handle_event(&mut self, event: TreeEvent, rpc_tx: &Sender<RpcWorkerReq>) {
        match event {
            TreeEvent::RouteDiscovered(route) => {
                self.discovered_routes.insert(route.clone());
                let _ = rpc_tx.send(RpcWorkerReq::FetchList(route.clone()));
                self.device_status.entry(route).or_default();
            }
            TreeEvent::Device {
                route,
                event: DeviceEvent::NewHash(hash),
            } => {
                match (self.rpc_registries.get(&route), hash) {
                    (Some(reg), Some(hash)) if reg.hash == Some(hash) => {}
                    _ => {
                        self.rpc_registries.remove(&route);
                        let _ = rpc_tx.send(RpcWorkerReq::FetchList(route));
                    }
                };
            }
            TreeEvent::Device {
                route,
                event: DeviceEvent::Heartbeat { .. },
            } => {
                self.device_status.entry(route).or_default().on_heartbeat();
            }
            TreeEvent::Device {
                route,
                event: DeviceEvent::Status(status),
            } => {
                let dev_status = self.device_status.entry(route.clone()).or_default();
                match status {
                    ProxyStatus::SensorDisconnected => dev_status.connected = false,
                    ProxyStatus::SensorReconnected => dev_status.connected = true,
                    _ => {}
                }
            }
            TreeEvent::Device {
                route,
                event: DeviceEvent::MetadataReady(metadata),
            } => {
                self.device_metadata.insert(route, metadata);
            }
            TreeEvent::Device {
                event: DeviceEvent::RpcInvalidated(_),
                ..
            } => {}
        }
    }

    pub fn handle_sample(&mut self, sample: Sample, route: DeviceRoute, buffer: &mut Buffer) {
        let stream_key = StreamKey::new(route.clone(), sample.stream.stream_id);
        buffer.process_sample(sample.clone(), stream_key.clone());
        self.last.insert(stream_key, (sample, Instant::now()));
    }

    pub fn update_plot_window(&mut self, buffer: &Buffer) {
        if !self.view.show_plot {
            self.window_aligned = None;
            return;
        }

        self.window_aligned = self.current_selection().and_then(|col| {
            let stream_key = col.stream_key();
            let run = buffer.get_run(&stream_key)?;
            let n_samples = (self.view.plot_window_seconds * run.effective_rate)
                .ceil()
                .max(10.0) as usize;
            buffer.read_aligned_window(&[col], n_samples).ok()
        });
    }

    pub fn get_plot_data(&self) -> Option<(Vec<(f64, f64)>, f64, f64)> {
        let spec = self.current_selection()?;
        let win = self.window_aligned.as_ref()?;
        let batch = win.columns.get(&spec)?;
        if win.timestamps.is_empty() {
            return None;
        }
        let data: Vec<(f64, f64)> = match batch {
            ColumnBatch::F64(v) => win
                .timestamps
                .iter()
                .copied()
                .zip(v.iter().copied())
                .collect(),
            ColumnBatch::I64(v) => win
                .timestamps
                .iter()
                .copied()
                .zip(v.iter().map(|&x| x as f64))
                .collect(),
            ColumnBatch::U64(v) => win
                .timestamps
                .iter()
                .copied()
                .zip(v.iter().map(|&x| x as f64))
                .collect(),
        };
        if data.is_empty() {
            return None;
        }
        let (cur_t, cur_v) = *data.last().unwrap();
        Some((data, cur_v, cur_t))
    }

    pub fn get_spectral_density_data(&self) -> FftStatus {
        let Some(spec) = self.current_selection() else {
            return FftStatus::WaitingForSelection;
        };
        let Some(win) = self.window_aligned.as_ref() else {
            return FftStatus::WaitingForSamples;
        };
        let stream_key = spec.stream_key();
        let Some(md) = win.segment_metadata.get(&stream_key) else {
            return FftStatus::WaitingForSamples;
        };
        if md.sampling_rate == 0 || md.decimation == 0 {
            return FftStatus::InvalidSampleRate {
                sampling_rate: md.sampling_rate,
                decimation: md.decimation,
            };
        }
        let sampling_hz = md.sampling_rate as f64 / md.decimation as f64;
        if !sampling_hz.is_finite() || sampling_hz <= 0.0 {
            return FftStatus::InvalidSampleRate {
                sampling_rate: md.sampling_rate,
                decimation: md.decimation,
            };
        }
        let Some(batch) = win.columns.get(&spec) else {
            return FftStatus::WaitingForSamples;
        };

        let signal: Vec<f64> = match batch {
            ColumnBatch::F64(v) => v.clone(),
            ColumnBatch::I64(v) => v.iter().map(|&x| x as f64).collect(),
            ColumnBatch::U64(v) => v.iter().map(|&x| x as f64).collect(),
        };

        if signal.len() < MIN_FFT_SAMPLES {
            return FftStatus::TooFewSamples {
                have: signal.len(),
                need: MIN_FFT_SAMPLES,
                sampling_hz,
                window_seconds: self.view.plot_window_seconds,
            };
        }

        let (fft_signal, segment_size, hop_size) = latest_complete_welch_signal(&signal);

        let mean_val = fft_signal.iter().sum::<f64>() / fft_signal.len() as f64;
        let detrended: Vec<f64> = fft_signal.iter().map(|x| x - mean_val).collect();

        let welch: SpectralDensity<f64> = SpectralDensity::builder(&detrended, sampling_hz).build();
        let sd = welch.periodogram();
        let pts: Vec<(f64, f64)> = sd
            .frequency()
            .into_iter()
            .zip(sd.iter().copied())
            .filter_map(|(f, d)| {
                if f > 0.0 && d.is_finite() && d > 0.0 {
                    Some((f, d.sqrt()))
                } else {
                    None
                }
            })
            .collect();

        if pts.is_empty() {
            return FftStatus::NoValidFrequencyBins {
                sample_count: fft_signal.len(),
                sampling_hz,
            };
        }

        let mut asd_values: Vec<f64> = pts.iter().map(|(_, d)| *d).collect();
        asd_values.sort_by(|a, b| a.partial_cmp(b).unwrap_or(std::cmp::Ordering::Equal));
        let median_asd = if asd_values.len() % 2 == 0 {
            (asd_values[asd_values.len() / 2 - 1] + asd_values[asd_values.len() / 2]) / 2.0
        } else {
            asd_values[asd_values.len() / 2]
        };

        FftStatus::Ready(FftReadyData {
            points: pts,
            median_asd,
            sample_count: fft_signal.len(),
            total_sample_count: signal.len(),
            sampling_hz,
            segment_size,
            hop_size,
        })
    }

    pub fn get_focused_channel_info(&self) -> Option<(String, String)> {
        let spec = self.current_selection()?;
        let win = self.window_aligned.as_ref()?;
        let meta = win.column_metadata.get(&spec)?;
        Some((meta.description.clone(), meta.units.clone()))
    }

    pub fn tick_blink(&mut self) {
        if self.last_blink.elapsed() >= Duration::from_millis(500) {
            self.blink_state = !self.blink_state;
            self.last_blink = Instant::now();
        }
    }
}

fn get_action(ev: Event, app: &mut App) -> Option<Action> {
    if let Event::Key(k) = ev {
        if k.kind != KeyEventKind::Press {
            return None;
        }
        match app.mode {
            Mode::Command => {
                let route = app.current_route();
                let registry = app.rpc_registries.get(&route);
                let routes = app.visible_routes();
                match app
                    .palette
                    .handle_key(k, registry, &route, &routes, app.footer_height)
                {
                    PaletteEvent::Submit(req) => Some(Action::ExecuteRpc(req)),
                    PaletteEvent::SelectRoute(r) => Some(Action::SelectRoute(r)),
                    PaletteEvent::Exit => Some(Action::SetMode(Mode::Normal)),
                    PaletteEvent::Consumed => None,
                }
            }
            Mode::Normal => match k.code {
                KeyCode::Char(':') => Some(Action::SetMode(Mode::Command)),
                KeyCode::Char('q') => Some(Action::Quit),
                KeyCode::Char('c') if k.modifiers == KeyModifiers::CONTROL => Some(Action::Quit),
                KeyCode::Esc => Some(Action::ClosePlot),
                KeyCode::Up => Some(Action::NavUp),
                KeyCode::Down => Some(Action::NavDown),
                KeyCode::Left => Some(Action::NavLeft),
                KeyCode::Right => Some(Action::NavRight),
                KeyCode::BackTab => Some(Action::NavTabPrev),
                KeyCode::Tab => Some(Action::NavTabNext),
                KeyCode::PageUp => Some(Action::NavScroll(-10)),
                KeyCode::PageDown => Some(Action::NavScroll(10)),
                KeyCode::Home => Some(Action::NavHome),
                KeyCode::End => Some(Action::NavEnd),
                KeyCode::Enter => Some(Action::TogglePlot),
                KeyCode::Char('f') => Some(Action::ToggleFft),
                KeyCode::Char('h') => Some(Action::ToggleFooter),
                KeyCode::Char('r') => Some(Action::ToggleRoutes),
                KeyCode::Char('=') => Some(Action::AdjustWindow(PLOT_WINDOW_FINE_STEP_SECONDS)),
                KeyCode::Char('-') => Some(Action::AdjustWindow(-PLOT_WINDOW_FINE_STEP_SECONDS)),
                KeyCode::Char('+') => Some(Action::AdjustWindow(PLOT_WINDOW_COARSE_STEP_SECONDS)),
                KeyCode::Char('_') => Some(Action::AdjustWindow(-PLOT_WINDOW_COARSE_STEP_SECONDS)),
                KeyCode::Char('[') => Some(Action::AdjustPlotWidth(5)),
                KeyCode::Char(']') => Some(Action::AdjustPlotWidth(-5)),
                KeyCode::Char(',') | KeyCode::Char('<') => Some(Action::AdjustPrecision(-1)),
                KeyCode::Char('.') | KeyCode::Char('>') => Some(Action::AdjustPrecision(1)),
                _ => None,
            },
        }
    } else {
        None
    }
}

fn draw_ui(terminal: &mut DefaultTerminal, app: &mut App) -> Result<(), io::Error> {
    terminal.draw(|f| {
        let size = f.area();
        let height = size.height;

        let (main_area, footer_area) = {
            let (main_constraint, footer_constraint) = if app.mode == Mode::Command {
                if height >= 18 {
                    (
                        Constraint::Min(10),
                        Constraint::Length(5 + app.palette.suggestion_rows()),
                    )
                } else if height >= 12 {
                    (Constraint::Min(2), Constraint::Length(8))
                } else if height >= 5 {
                    (Constraint::Min(2), Constraint::Length(3))
                } else {
                    (Constraint::Min(0), Constraint::Length(2))
                }
            } else if app.view.show_footer {
                (Constraint::Min(10), Constraint::Length(6))
            } else {
                (Constraint::Min(10), Constraint::Length(2))
            };
            let chunks = Layout::default()
                .direction(Direction::Vertical)
                .constraints([main_constraint, footer_constraint])
                .split(size);
            (chunks[0], Some(chunks[1]))
        };

        let (left, right) = if app.mode == Mode::Command && height < 3 {
            (None, None)
        } else if app.view.show_plot {
            let chunks = Layout::default()
                .direction(Direction::Horizontal)
                .constraints([
                    Constraint::Percentage(100 - app.view.plot_width_percent),
                    Constraint::Percentage(app.view.plot_width_percent),
                ])
                .split(main_area);
            (Some(chunks[0]), Some(chunks[1]))
        } else {
            (Some(main_area), None)
        };

        if let Some(l) = left {
            render_monitor_panel(f, app, l, Instant::now());
        }
        if let Some(r) = right {
            render_graphics_panel(f, app, r);
        }
        if let Some(foot) = footer_area {
            render_footer(f, app, foot);
        }
    })?;
    Ok(())
}

fn render_monitor_panel(f: &mut Frame, app: &mut App, area: Rect, now: Instant) {
    let inner = Rect {
        x: area.x,
        y: area.y,
        width: area.width.saturating_sub(1),
        height: area.height,
    };
    let (lines, col_map) = build_left_lines(app, now);
    let total = lines.len();
    let view_h = inner.height as usize;

    if app.view.follow_selection {
        if let Some(&line_idx) = col_map.get(&app.nav.idx) {
            if view_h > 0 && total > view_h {
                let cur = app.view.scroll as usize;
                if line_idx < cur || line_idx >= cur + view_h {
                    app.view.scroll = line_idx
                        .saturating_sub(view_h / 2)
                        .min(total.saturating_sub(view_h))
                        as u16;
                }
            } else {
                app.view.scroll = 0;
            }
        }
    }
    app.view.scroll = (app.view.scroll as usize).min(total.saturating_sub(view_h)) as u16;
    f.render_widget(Paragraph::new(lines).scroll((app.view.scroll, 0)), inner);

    if total > view_h {
        let sb_area = Rect {
            x: area.x + area.width - 1,
            y: area.y,
            width: 1,
            height: area.height,
        };
        let track_len = view_h;
        let thumb_len = (track_len * track_len / total).max(1);
        let max_thumb_pos = track_len - thumb_len;
        let scroll_max = total - track_len;
        let thumb_pos = (app.view.scroll as usize * max_thumb_pos) / scroll_max;

        for i in 0..track_len {
            let ch = if i >= thumb_pos && i < thumb_pos + thumb_len {
                "█"
            } else {
                "│"
            };
            f.render_widget(
                Paragraph::new(ch).style(Style::default().fg(Color::DarkGray)),
                Rect {
                    x: sb_area.x,
                    y: sb_area.y + i as u16,
                    width: 1,
                    height: 1,
                },
            );
        }
    }
}

fn stale_threshold(sample: &Sample) -> Duration {
    let rate = sample.segment.sampling_rate as f64 / sample.segment.decimation.max(1) as f64;
    let period_ms = if rate > 0.0 { 1000.0 / rate } else { 0.0 };
    // floor of 1200
    Duration::from_millis((period_ms * 2.0).max(1200.0) as u64)
}

fn build_left_lines(app: &mut App, now: Instant) -> (Vec<Line<'static>>, HashMap<usize, usize>) {
    let mut lines = Vec::new();
    let mut map = HashMap::new();

    let routes = app.visible_routes();

    if routes.is_empty() {
        lines.push(Line::from("Waiting for data..."));
        return (lines, map);
    }

    let mut global_idx = 0;
    app.view.desc_width = app
        .last
        .values()
        .flat_map(|(s, _)| s.columns.iter())
        .map(|c| c.desc.description.len())
        .max()
        .unwrap_or(0);
    app.view.units_width = app
        .last
        .values()
        .flat_map(|(s, _)| s.columns.iter())
        .map(|c| c.desc.units.len())
        .max()
        .unwrap_or(0);

    for (dev_idx, route) in routes.iter().enumerate() {
        let dev = app.device_metadata.get(route).map(|m| m.device.as_ref());

        let status = app.device_status.get(route);
        let is_alive = status
            .map(|s| s.is_alive(Duration::from_millis(300)))
            .unwrap_or(false);

        let head_style = if dev_idx == app.current_device_index() {
            Style::default().add_modifier(Modifier::BOLD | Modifier::UNDERLINED)
        } else {
            Style::default().add_modifier(Modifier::BOLD)
        };

        let header_text = if let Some(d) = dev {
            if d.serial_number.is_empty() {
                d.name.clone()
            } else {
                format!("{}  Serial: {}", d.name, d.serial_number)
            }
        } else {
            format!("<{}>", route)
        };

        let status_indicator = if is_alive { "●" } else { "○" };
        let status_color = if is_alive {
            Color::Green
        } else {
            Color::DarkGray
        };

        let mut header_spans = vec![
            Span::styled(
                format!("{} ", status_indicator),
                Style::default().fg(status_color),
            ),
            Span::styled(header_text, head_style),
        ];
        if app.view.show_routes {
            header_spans.push(Span::raw(format!(" [{}]", route)));
        }

        lines.push(Line::from(header_spans));

        let mut stream_ids: Vec<_> = app
            .last
            .keys()
            .filter(|k| &k.route == route)
            .map(|k| k.stream_id)
            .collect();
        stream_ids.sort();

        if stream_ids.is_empty() {
            map.insert(global_idx, lines.len());
            global_idx += 1;

            lines.push(Line::from(Span::styled(
                "  (no streams yet)",
                Style::default().fg(Color::DarkGray),
            )));
        }

        for sid in stream_ids {
            let key = StreamKey::new(route.clone(), sid);
            if let Some((sample, seen)) = app.last.get(&key) {
                let is_stale = now.saturating_duration_since(*seen) > stale_threshold(sample);
                for col in &sample.columns {
                    let nav_idx = global_idx;
                    global_idx += 1;
                    map.insert(nav_idx, lines.len());

                    let is_sel = app.nav.idx == nav_idx;
                    let ctx = StyleContext::new()
                        .stale(is_stale)
                        .selected(is_sel)
                        .plot_mode(app.view.show_plot);

                    let label_style = ctx.resolve();
                    let (val_str, val_f64) = fmt_value(&col.value);
                    let val_col = app
                        .view
                        .theme
                        .get_value_color(&sample.stream.name, &col.desc.name, val_f64)
                        .unwrap_or(Color::Reset);
                    let val_style = ctx.color(val_col).resolve();

                    let mut desc = col.desc.description.clone();
                    if desc.len() < app.view.desc_width {
                        desc.push_str(&" ".repeat(app.view.desc_width - desc.len()));
                    }

                    let units = col.desc.units.clone();
                    let padded_units = if app.view.units_width > 0 && !units.is_empty() {
                        format!("{:>width$}", units, width = app.view.units_width)
                    } else if app.view.units_width > 0 {
                        " ".repeat(app.view.units_width)
                    } else {
                        String::new()
                    };

                    lines.push(Line::from(vec![
                        Span::styled(desc, label_style),
                        Span::raw("  "),
                        Span::styled(val_str, val_style),
                        Span::raw(" "),
                        Span::styled(padded_units, val_style),
                    ]));
                }
            }
        }
        lines.push(Line::from(""));
    }
    (lines, map)
}

fn render_footer(f: &mut Frame, app: &mut App, area: Rect) {
    app.footer_height = area.height; // how many lines the footer has to work with
    if app.mode == Mode::Command {
        let route = app.current_route();
        let registry_ready = app.rpc_registries.contains_key(&route);
        let registry = app.rpc_registries.get(&route);
        app.palette
            .render(f, area, &route, registry, registry_ready, app.blink_state);
        return;
    }

    if !app.view.show_footer {
        let minimal = Line::from(vec![
            Span::raw("  "),
            key_span("h"),
            Span::raw(" Toggle Footer"),
        ]);
        f.render_widget(
            Paragraph::new(vec![minimal]).block(
                Block::default()
                    .borders(Borders::TOP)
                    .border_style(Style::default().fg(Color::DarkGray)),
            ),
            area,
        );
        return;
    }

    let mut navigation_spans = vec![
        Span::styled(
            "  Navigation  ",
            Style::default()
                .fg(Color::Cyan)
                .add_modifier(Modifier::BOLD),
        ),
        key_span("↑"),
        key_sep(),
        key_span("↓"),
        Span::raw(" All  "),
        key_span("←"),
        key_sep(),
        key_span("→"),
        Span::raw(" Columns"),
    ];

    if app.device_count() > 1 {
        navigation_spans.push(Span::raw("  "));
        navigation_spans.push(key_span("Tab"));
        navigation_spans.push(key_sep());
        navigation_spans.push(key_span("Shift+Tab"));
        navigation_spans.push(Span::raw(" Devices"));
    }
    let navigation_line = Line::from(navigation_spans);

    let toggle_line = Line::from(vec![
        Span::styled(
            "  Toggle      ",
            Style::default()
                .fg(Color::Green)
                .add_modifier(Modifier::BOLD),
        ),
        key_span("Enter"),
        Span::raw(" Plot  "),
        key_span("f"),
        Span::raw(" FFT  "),
        key_span("h"),
        Span::raw(" Footer  "),
        key_span("r"),
        Span::raw(" Routes "),
        key_span(":"),
        Span::raw(" Cmd"),
    ]);

    let window_line = Line::from(vec![
        Span::styled(
            "  Plot        ",
            Style::default()
                .fg(Color::Yellow)
                .add_modifier(Modifier::BOLD),
        ),
        key_span("+"),
        key_sep(),
        key_span("-"),
        Span::raw(" Window (0.5s, Shift 5.0s)  "),
        key_span("["),
        key_sep(),
        key_span("]"),
        Span::raw(" Plot Width  "),
        key_span("<"),
        key_sep(),
        key_span(">"),
        Span::raw(" Plot Precision"),
    ]);

    let scroll_line = Line::from(vec![
        Span::styled(
            "  Scroll      ",
            Style::default()
                .fg(Color::Magenta)
                .add_modifier(Modifier::BOLD),
        ),
        key_span("Home"),
        key_sep(),
        key_span("End"),
        key_sep(),
        key_span("PgUp"),
        key_sep(),
        key_span("PgDn"),
    ]);

    let quit_line = Line::from(vec![
        Span::styled(
            "  Quit        ",
            Style::default().fg(Color::Red).add_modifier(Modifier::BOLD),
        ),
        key_span("q"),
        Span::raw(" / "),
        key_span("Ctrl+C"),
        Span::raw(" Quit"),
    ]);

    let lines = vec![
        navigation_line,
        toggle_line,
        window_line,
        scroll_line,
        quit_line,
    ];

    let block = Block::default()
        .borders(Borders::TOP)
        .border_style(Style::default().fg(Color::DarkGray))
        .title(Span::styled(
            " Controls ",
            Style::default().add_modifier(Modifier::BOLD),
        ));

    f.render_widget(Paragraph::new(lines).block(block), area);
}

fn key_span(text: &str) -> Span<'static> {
    Span::styled(
        format!(" {} ", text),
        Style::default()
            .fg(Color::White)
            .bg(Color::DarkGray)
            .add_modifier(Modifier::BOLD),
    )
}

fn key_sep() -> Span<'static> {
    Span::raw(" ")
}

fn latest_complete_welch_signal(signal: &[f64]) -> (&[f64], usize, usize) {
    let denominator =
        WELCH_DEFAULT_SEGMENTS as f64 * (1.0 - WELCH_DEFAULT_OVERLAP) + WELCH_DEFAULT_OVERLAP;
    let default_segment_size = (signal.len() as f64 / denominator).trunc().max(1.0) as usize;

    if default_segment_size.next_power_of_two() <= WELCH_DFT_MAX_SIZE {
        let hop_size = default_segment_size
            - (default_segment_size as f64 * WELCH_DEFAULT_OVERLAP).round() as usize;
        return (signal, default_segment_size, hop_size.max(1));
    }

    let segment_size = WELCH_DFT_MAX_SIZE;
    let hop_size = segment_size - (segment_size as f64 * WELCH_DEFAULT_OVERLAP).round() as usize;
    let segment_count = (signal.len() - segment_size) / hop_size + 1;
    let used_len = (segment_count - 1) * hop_size + segment_size;

    (
        &signal[signal.len() - used_len..],
        segment_size,
        hop_size.max(1),
    )
}

fn render_graphics_panel(f: &mut Frame, app: &App, area: Rect) {
    if let (Some(pos), Some((desc, units))) = (app.current_pos(), app.get_focused_channel_info()) {
        let route = pos.route();
        if app.view.show_fft {
            match app.get_spectral_density_data() {
                FftStatus::Ready(sd) => {
                    let title = format!(
                        "{} — {} ({:.1}s, FFT {} of {} samples, seg {}, hop {}) | Median ASD: {:.3e} {}/√Hz",
                        route,
                        desc,
                        app.view.plot_window_seconds,
                        sd.sample_count,
                        sd.total_sample_count,
                        sd.segment_size,
                        sd.hop_size,
                        sd.median_asd,
                        units
                    );
                    let block = Block::default().title(title).borders(Borders::ALL);

                    if !sd.points.is_empty() {
                        let log_data: Vec<(f64, f64)> = sd
                            .points
                            .iter()
                            .map(|(freq, val)| (freq.log10(), val.log10()))
                            .collect();

                        let min_f = log_data.first().map(|(f, _)| *f).unwrap_or(0.0);
                        let max_f = log_data.last().map(|(f, _)| *f).unwrap_or(1.0);
                        let ds: Vec<f64> = log_data.iter().map(|(_, d)| *d).collect();
                        let min_d = ds.iter().fold(f64::INFINITY, |a, &b| a.min(b));
                        let max_d = ds.iter().fold(f64::NEG_INFINITY, |a, &b| a.max(b));

                        let y_pad = if (max_d - min_d) > 0.1 {
                            (max_d - min_d) * 0.1
                        } else {
                            0.5
                        };

                        let dataset = Dataset::default()
                            .name(desc.as_str())
                            .marker(symbols::Marker::Braille)
                            .style(Style::default().fg(Color::Cyan))
                            .graph_type(GraphType::Line)
                            .data(&log_data);

                        let chart = Chart::new(vec![dataset])
                            .block(block)
                            .x_axis(
                                Axis::default()
                                    .title("Freq [Hz] (log)")
                                    .bounds([min_f, max_f])
                                    .labels(generate_log_labels(
                                        min_f,
                                        max_f,
                                        5,
                                        app.view.axis_precision,
                                    )),
                            )
                            .y_axis(
                                Axis::default()
                                    .title(format!("Val [{}/√Hz]", units))
                                    .bounds([min_d - y_pad, max_d + y_pad])
                                    .labels(generate_log_labels(
                                        min_d - y_pad,
                                        max_d + y_pad,
                                        5,
                                        app.view.axis_precision,
                                    )),
                            );
                        f.render_widget(chart, area);
                    } else {
                        f.render_widget(Paragraph::new("No valid FFT data").block(block), area);
                    }
                }
                FftStatus::TooFewSamples {
                    have,
                    need,
                    sampling_hz,
                    window_seconds,
                } => {
                    let block = Block::default()
                        .title(format!("FFT unavailable - {} samples needed", need))
                        .borders(Borders::ALL);
                    let message = format!(
                        "Current FFT buffer has {} of {} samples. At {:.3} Hz, current window is {:.1}s.",
                        have, need, sampling_hz, window_seconds
                    );
                    f.render_widget(Paragraph::new(message).block(block), area);
                }
                FftStatus::InvalidSampleRate {
                    sampling_rate,
                    decimation,
                } => {
                    let block = Block::default()
                        .title("FFT unavailable - invalid sample rate")
                        .borders(Borders::ALL);
                    let message = format!(
                        "Stream metadata reports sampling_rate={} and decimation={}.",
                        sampling_rate, decimation
                    );
                    f.render_widget(Paragraph::new(message).block(block), area);
                }
                FftStatus::NoValidFrequencyBins {
                    sample_count,
                    sampling_hz,
                } => {
                    let block = Block::default()
                        .title("FFT unavailable - no valid frequency bins")
                        .borders(Borders::ALL);
                    let message = format!(
                        "Welch produced no positive finite bins from {} samples at {:.3} Hz.",
                        sample_count, sampling_hz
                    );
                    f.render_widget(Paragraph::new(message).block(block), area);
                }
                FftStatus::WaitingForSelection => {
                    let block = Block::default()
                        .title("FFT unavailable - no channel selected")
                        .borders(Borders::ALL);
                    f.render_widget(
                        Paragraph::new("Select a stream column to plot FFT.").block(block),
                        area,
                    );
                }
                FftStatus::WaitingForSamples => {
                    let block = Block::default()
                        .title("Buffering FFT...")
                        .borders(Borders::ALL);
                    f.render_widget(
                        Paragraph::new("Waiting for samples in the selected window.").block(block),
                        area,
                    );
                }
            }
        } else {
            let title = format!(
                "{} — {} ({:.1}s)",
                route, desc, app.view.plot_window_seconds
            );
            let block = Block::default().title(title).borders(Borders::ALL);

            if let Some((data, _, _)) = app.get_plot_data() {
                let min_t = data.first().map(|(t, _)| *t).unwrap_or(0.0);
                let max_t = data.last().map(|(t, _)| *t).unwrap_or(1.0);
                let vs: Vec<f64> = data.iter().map(|(_, v)| *v).collect();
                let min_v = vs.iter().fold(f64::INFINITY, |a, &b| a.min(b));
                let max_v = vs.iter().fold(f64::NEG_INFINITY, |a, &b| a.max(b));

                let pad = if (max_v - min_v).abs() > 1e-10 {
                    (max_v - min_v) * 0.4
                } else {
                    1.0
                };

                let dataset = Dataset::default()
                    .name(desc.as_str())
                    .marker(symbols::Marker::Braille)
                    .style(Style::default().fg(Color::Green))
                    .graph_type(GraphType::Line)
                    .data(&data);

                let chart = Chart::new(vec![dataset])
                    .block(block)
                    .x_axis(
                        Axis::default()
                            .title("Time [s]")
                            .bounds([min_t, max_t])
                            .labels(generate_linear_labels(
                                min_t,
                                max_t,
                                3,
                                app.view.axis_precision,
                            )),
                    )
                    .y_axis(
                        Axis::default()
                            .title(format!("Value [{}]", units))
                            .bounds([min_v - pad, max_v + pad])
                            .labels(generate_linear_labels(
                                min_v - pad,
                                max_v + pad,
                                5,
                                app.view.axis_precision,
                            )),
                    );
                f.render_widget(chart, area);
            } else {
                f.render_widget(Paragraph::new("Buffering...").block(block), area);
            }
        }
    } else {
        f.render_widget(
            Block::default()
                .title("Channel Detail")
                .borders(Borders::ALL),
            area,
        );
    }
}

fn generate_linear_labels(
    min: f64,
    max: f64,
    count: usize,
    precision: usize,
) -> Vec<Span<'static>> {
    if count < 2 {
        return vec![];
    }
    let step = (max - min) / ((count - 1) as f64);
    (0..count)
        .map(|i| {
            let v = min + (i as f64 * step);
            Span::from(format!("{:>10.p$}", v, p = precision))
        })
        .collect()
}

fn generate_log_labels(
    min_log: f64,
    max_log: f64,
    count: usize,
    precision: usize,
) -> Vec<Span<'static>> {
    if count < 2 {
        return vec![];
    }
    let step = (max_log - min_log) / ((count - 1) as f64);
    let max_val = 10f64.powf(max_log.max(min_log)).abs();
    let use_scientific = max_val < 0.01 || max_val >= 1000.0;

    (0..count)
        .map(|i| {
            let log_val = min_log + (i as f64 * step);
            let real_val = 10f64.powf(log_val);

            let s = if use_scientific {
                format!("{:.p$e}", real_val, p = precision)
            } else {
                format!("{:.p$}", real_val, p = precision)
            };
            Span::from(format!("{:>10}", s))
        })
        .collect()
}

fn fmt_value(v: &ColumnData) -> (String, f64) {
    match v {
        ColumnData::Float(x) => (format!("{:15.4}", x), *x as f64),
        ColumnData::Int(x) => (format!("{:15}", x), *x as f64),
        ColumnData::UInt(x) => (format!("{:15}", x), *x as f64),
        _ => ("           type?".to_string(), f64::NAN),
    }
}

fn load_theme(path: &str) -> io::Result<Theme> {
    let mut s = String::new();
    File::open(path)?.read_to_string(&mut s)?;
    let doc =
        DocumentMut::from_str(&s).map_err(|e| io::Error::new(io::ErrorKind::InvalidData, e))?;
    let mut bounds = HashMap::new();
    for (k, v) in doc.get_values() {
        let col = k.iter().map(|k| k.get()).collect::<Vec<_>>().join(".");
        if let Value::InlineTable(it) = v {
            let (t, min) = if let Some(v) = get_num(it, "cold") {
                (true, v)
            } else {
                (false, get_num(it, "min").unwrap_or(f64::NEG_INFINITY))
            };
            let max = if let Some(v) = get_num(it, "hot") {
                v
            } else {
                get_num(it, "max").unwrap_or(f64::INFINITY)
            };
            bounds.insert(col, (min..=max, t));
        }
    }
    Ok(Theme {
        value_bounds: bounds,
    })
}

fn get_num(it: &InlineTable, k: &str) -> Option<f64> {
    it.get(k)
        .and_then(|v| v.as_float().or(v.as_integer().map(|i| i as f64)))
}
pub fn run_monitor(
    tio: TioOpts,
    fps: u32,
    colors: Option<String>,
    depth: Option<usize>,
) -> eyre::Result<()> {
    use eyre::WrapErr;

    let proxy = tio::proxy::Interface::new(&tio.root);
    let parent_route: DeviceRoute = tio.route.clone();

    let tree = DeviceTree::open(&proxy, parent_route.clone())
        .wrap_err_with(|| format!("could not open device tree on {}", tio.root))?;
    let data_rx = spawn_tree_worker(tree);

    let rpc_client = RpcClient::open(&proxy, parent_route.clone())
        .wrap_err_with(|| format!("could not open RPC client on {}", tio.root))?;
    let (rpc_tx, rpc_resp_rx) = spawn_rpc_worker(rpc_client);

    // Key thread
    let (key_tx, key_rx) = channel::unbounded();
    std::thread::spawn(move || loop {
        if let Ok(ev) = event::read() {
            if key_tx.send(ev).is_err() {
                return;
            }
        }
    });

    // App state — subtree visible by default; limit with --depth.
    let mut app = App::new(depth, &parent_route);
    if let Some(path) = &colors {
        if let Ok(theme) = load_theme(path) {
            app.view.theme = theme;
        } else {
            eprintln!("Failed to load theme");
        }
    }

    let mut buffer = Buffer::new(MONITOR_BUFFER_CAPACITY_SAMPLES);

    // UI
    let mut term = ratatui::init();
    let _ = term.hide_cursor();
    let ui_tick = channel::tick(Duration::from_millis(1000 / fps as u64));

    'main: loop {
        crossbeam::select! {
            recv(data_rx) -> item => {
                match item {
                    Ok(TreeItem::Sample(sample, route)) => {
                        app.handle_sample(sample, route, &mut buffer);
                    }
                    Ok(TreeItem::Event(event)) => {
                        app.handle_event(event, &rpc_tx);
                    }
                    Err(_) => break 'main,
                }
            }

            recv(key_rx) -> ev => {
                if let Ok(ev) = ev {
                    if let Some(act) = get_action(ev, &mut app) {
                        if app.update(act, &rpc_tx) {
                            break 'main;
                        }
                    }
                }
            }

            recv(rpc_resp_rx) -> resp => {
                if let Ok(resp) = resp {
                    match resp {
                        RpcWorkerResp::List(list) => {
                            app.update_rpclists(list);
                        }
                        RpcWorkerResp::RpcResult(res) => {
                            let (msg, col) = match res.result {
                                Ok(s) => (
                                    format!("{}: {}", app.palette.last_rpc_command(), s),
                                    Color::Green,
                                ),
                                Err(s) => (format!("ERR: {}", s), Color::Red),
                            };
                            app.palette.set_rpc_result(msg, col);
                        }
                    }
                }
            }

            recv(ui_tick) -> _ => {
                app.update_plot_window(&buffer);
                app.rebuild_nav_items();
                app.tick_blink();

                if draw_ui(&mut term, &mut app).is_err() {
                    break 'main;
                }
            }
        }
    }

    ratatui::restore();
    Ok(())
}