"""Unified CLI for motor-only system identification.

Usage:
    python scripts/motor_sysid.py capture   --duration 20
    python scripts/motor_sysid.py optimize  --recording assets/motor/recordings/<file>.npz
    python scripts/motor_sysid.py visualize --recording assets/motor/recordings/<file>.npz
    python scripts/motor_sysid.py export    --result assets/motor/motor_sysid_result.json
"""

from __future__ import annotations

import sys
from pathlib import Path

# Ensure project root is on sys.path
_PROJECT_ROOT = str(Path(__file__).resolve().parent.parent)
if _PROJECT_ROOT not in sys.path:
    sys.path.insert(0, _PROJECT_ROOT)


def main() -> None:
    if len(sys.argv) < 2 or sys.argv[1] in ("-h", "--help"):
        print(
            "Motor System Identification\n"
            "===========================\n"
            "Usage: python scripts/motor_sysid.py <command> [options]\n"
            "\n"
            "Commands:\n"
            "  capture    Record motor trajectory under PRBS excitation\n"
            "  optimize   Run CMA-ES to fit motor parameters\n"
            "  visualize  Plot real vs simulated motor response\n"
            "  export     Write tuned MJCF + robot.yaml files\n"
            "\n"
            "Workflow:\n"
            "  1. Flash sysid firmware to ESP32 (motor-only, no limits)\n"
            "  2. python scripts/motor_sysid.py capture --duration 20\n"
            "  3. python scripts/motor_sysid.py optimize --recording <file>.npz\n"
            "  4. python scripts/motor_sysid.py visualize --recording <file>.npz\n"
            "\n"
            "Run '<command> --help' for command-specific options."
        )
        sys.exit(0)

    command = sys.argv[1]
    sys.argv = [f"motor_sysid {command}"] + sys.argv[2:]

    if command == "capture":
        from src.sysid.motor.capture import main as cmd_main
    elif command == "optimize":
        from src.sysid.motor.optimize import main as cmd_main
    elif command == "visualize":
        from src.sysid.motor.visualize import main as cmd_main
    elif command == "export":
        from src.sysid.motor.export import main as cmd_main
    else:
        print(f"Unknown command: {command}")
        print("Available commands: capture, optimize, visualize, export")
        sys.exit(1)

    cmd_main()


if __name__ == "__main__":
    main()