default:
    @just --list

fmt:
    cargo fmt --all

lint:
    cargo fmt --all -- --check
    cargo clippy --workspace --all-targets -- -D warnings

test:
    cargo test --workspace --all-targets

vcan-test:
    sudo modprobe vcan
    sudo ip link add dev vcan0 type vcan || true
    sudo ip link set up vcan0
    cargo test -p socketcan@0.1.0 --test vcan -- --ignored --test-threads 1

run-mock:
    cargo run -p chassisd -- --mock

check-structure:
    test -z "$(find crates/*/src -mindepth 2 -type d -print)"
    ! rg -n '\bunsafe\b|libc|no_std' crates Cargo.toml -g '*.rs' -g '*.toml'

build-armv7:
    rustup target add armv7-unknown-linux-musleabihf
    cargo build --release -p chassisd --target armv7-unknown-linux-musleabihf
    cargo build --release -p spin --target armv7-unknown-linux-musleabihf
    cargo build --release -p chassis-tune --target armv7-unknown-linux-musleabihf

deploy board="root@192.168.2.2" mode="--mock":
    just build-armv7
    ssh {{board}} "mkdir -p /tmp/chassisd"
    scp -q target/armv7-unknown-linux-musleabihf/release/chassisd {{board}}:/tmp/chassisd/chassisd
    ssh {{board}} "/tmp/chassisd/chassisd {{mode}}"

can-up board="root@192.168.2.2" iface="can0":
    ssh {{board}} "ip link set {{iface}} down; ip link set {{iface}} up type can bitrate 1000000 restart-ms 100 && ip -br link show {{iface}}"

build-spin:
    rustup target add armv7-unknown-linux-musleabihf
    cargo build --release -p spin --target armv7-unknown-linux-musleabihf

bench-spin board="root@192.168.2.2" device="/dev/ttyACM0" rpm="500" opts="":
    just build-spin
    scp -q target/armv7-unknown-linux-musleabihf/release/spin {{board}}:/tmp/spin
    ssh {{board}} "/tmp/spin chassis --device {{device}} --rpm {{rpm}} {{opts}}"

bench-check board="root@192.168.2.2" device="/dev/ttyACM0":
    just build-spin
    scp -q target/armv7-unknown-linux-musleabihf/release/spin {{board}}:/tmp/spin
    ssh {{board}} "/tmp/spin chassis --device {{device}} --dry-run"

tune-presets preset="config/tune.toml":
    cargo run -p chassis-tune -- presets --preset {{preset}}

tune-preset name="sim_bench_model" opts="" preset="config/tune.toml":
    cargo run --release -p chassis-tune -- sweep --preset {{preset}} --preset-name {{name}} {{opts}}

tune-sim samples="512" seed="20260101":
    cargo run --release -p chassis-tune -- sweep --samples {{samples}} --seed {{seed}} --out-dir target/tune

tune-smoke samples="64" seed="7":
    cargo run --release -p chassis-tune -- sweep --samples {{samples}} --top-k 3 --max-iters 40 --ensemble 2 --seed {{seed}} --out-dir target/tune-smoke

tune-validate gains="2,10,0,0":
    cargo run --release -p chassis-tune -- validate --gains {{gains}}

tune-plot samples="128":
    cargo run --release -p chassis-tune --features plot -- sweep --samples {{samples}} --out-dir target/tune-plot

tune-write config="config/chassis.toml.example" motor="front_left" out="target/tune/chassis.tuned.toml":
    cargo run --release -p chassis-tune -- sweep --config {{config}} --motor {{motor}} --write-config {{out}} --samples 256 --out-dir target/tune

tune-bench board="root@192.168.2.2" device="/dev/ttyACM0" esc_id="1" samples="24" preset="bench_noload" opts="":
    cargo build --release -p chassis-tune
    scp -q target/release/chassis-tune {{board}}:/tmp/chassis-tune
    scp -q config/tune.toml {{board}}:/tmp/tune.toml
    ssh {{board}} "/tmp/chassis-tune sweep --backend bench --preset /tmp/tune.toml --preset-name {{preset}} --device {{device}} --esc-id {{esc_id}} --samples {{samples}} --top-k 3 --i-know-the-wheel-spins {{opts}}"