/* ════════════════════════════════════════════════════════
   设计系统 — 统一深色主题
   ════════════════════════════════════════════════════════ */
:root {
  /* 背景 */
  --c-bg: #0f1827;
  --c-panel-bg: rgba(15, 24, 39, 0.96);
  --c-card: rgba(30, 45, 65, 0.6);
  --c-card-solid: #1a2839;
  --c-card-hover: rgba(49, 75, 108, 0.5);
  --c-bar-bg: rgba(16, 24, 39, 0.72);
  --c-tab-track: rgba(30, 45, 65, 0.5);

  /* 文字 */
  --c-text: #e7edf7;
  --c-text-dark: #e7edf7;
  --c-heading: #9ec1e0;
  --c-label: #c8d6e8;
  --c-muted: #7a8da5;
  --c-muted-2: #5a6d85;

  /* 主题色 */
  --c-accent: #4ed5c6;
  --c-accent-hover: #76e0d0;
  --c-accent-light: #4ed5c6;
  --c-accent-soft: rgba(78, 213, 198, 0.12);
  --c-accent-soft-2: rgba(78, 213, 198, 0.08);
  --c-danger: #e07070;
  --c-on-accent: #0a1520;

  /* 边框 */
  --c-border: rgba(170, 193, 225, 0.1);
  --c-border-light: rgba(170, 193, 225, 0.06);
  --c-input-border: rgba(163, 188, 220, 0.18);
  --c-panel-border: rgba(170, 193, 225, 0.08);

  /* 圆角 */
  --r-md: 6px;
  --r-sm: 4px;

  /* 尺寸 */
  --panel-width: 340px;
  --topbar-h: 56px;

  /* 字体 */
  --font: Inter, "Noto Sans SC", "Microsoft YaHei", sans-serif;
  --mono: ui-monospace, SFMono-Regular, Menlo, monospace;

  /* 间距 */
  --sp-section: 16px;
}

* { box-sizing: border-box; }

body {
  margin: 0; overflow: hidden;
  font-family: var(--font);
  background: var(--c-bg); color: var(--c-text);
  -webkit-tap-highlight-color: transparent;
  -webkit-font-smoothing: antialiased;
}
button, input, select { font: inherit; }
button { cursor: pointer; }

/* ════════════════════════════════════════════════════════
   主布局
   ════════════════════════════════════════════════════════ */
#app {
  display: grid;
  grid-template-columns: minmax(0, 1fr) var(--panel-width);
  height: 100vh; height: 100dvh;
}
.viewport { position: relative; min-height: 0; }
#scene { display: block; width: 100%; height: 100%; outline: none; }

/* ════════════════════════════════════════════════════════
   顶部栏
   ════════════════════════════════════════════════════════ */
.topbar {
  position: absolute; z-index: 10; top: 0; left: 0; right: 0;
  height: var(--topbar-h);
  display: flex; align-items: center; gap: 14px; padding: 0 18px;
  background: var(--c-bar-bg);
  backdrop-filter: blur(10px); -webkit-backdrop-filter: blur(10px);
  border-bottom: 1px solid var(--c-border);
  pointer-events: none;
}
.brand { color: #f4f7fb; font-size: 14px; font-weight: 700; white-space: nowrap; }
.load-status {
  color: var(--c-muted); font-size: 12px; flex: 1 1 auto; min-width: 0;
  white-space: nowrap; overflow: hidden; text-overflow: ellipsis;
}
.model-switcher {
  display: inline-flex; align-items: center; gap: 6px;
  pointer-events: auto; color: var(--c-label); font-size: 12px; white-space: nowrap;
}
.model-switcher select {
  background: rgba(24, 37, 58, 0.96); color: #f4f7fb;
  border: 1px solid var(--c-input-border);
  border-radius: var(--r-sm); padding: 6px 8px; font-size: 12px;
  font-family: inherit; cursor: pointer;
}
.model-switcher select:hover { border-color: var(--c-accent); }
.model-switcher select:focus { outline: 2px solid var(--c-accent-light); outline-offset: 1px; }

.ros-switcher {
  display: inline-flex; align-items: center; gap: 8px;
  pointer-events: auto; color: var(--c-label); font-size: 12px; white-space: nowrap;
}
.ros-btn {
  border: 1px solid var(--c-input-border);
  border-radius: var(--r-sm);
  background: rgba(24, 37, 58, 0.96);
  color: var(--c-label);
  padding: 6px 10px; font-size: 12px;
  transition: background 0.15s, border-color 0.15s, color 0.15s;
}
.ros-btn:hover { border-color: var(--c-accent); color: var(--c-accent); }
.ros-btn.ros-active {
  border-color: var(--c-danger);
  background: rgba(224, 112, 112, 0.12);
  color: var(--c-danger);
}
.ros-status {
  font-size: 11px;
  padding: 3px 8px;
  border-radius: 999px;
  font-family: var(--mono);
  letter-spacing: 0.2px;
}
.ros-offline { background: rgba(122, 141, 165, 0.16); color: var(--c-muted); }
.ros-connecting { background: rgba(78, 213, 198, 0.12); color: var(--c-accent); }
.ros-online { background: rgba(78, 213, 198, 0.2); color: var(--c-accent); font-weight: 700; }
.ros-error { background: rgba(224, 112, 112, 0.18); color: var(--c-danger); }
.ros-pos-source select {
  background: rgba(24, 37, 58, 0.96); color: #f4f7fb;
  border: 1px solid var(--c-input-border);
  border-radius: var(--r-sm); padding: 5px 6px; font-size: 11px;
  font-family: inherit; cursor: pointer;
}
.ros-pos-source select:disabled { opacity: 0.45; cursor: not-allowed; }
.ros-pos-source select:hover:not(:disabled) { border-color: var(--c-accent); }

input[type="range"]:disabled {
  opacity: 0.45; cursor: not-allowed;
}
label.control-row:has(input:disabled) { color: var(--c-muted); }

/* ════════════════════════════════════════════════════════
   场景工具栏
   ════════════════════════════════════════════════════════ */
.scene-tools {
  position: absolute; z-index: 10; top: 70px; left: 16px;
  display: flex; align-items: center; gap: 8px;
}
.view-buttons, .scene-options { display: flex; align-items: center; gap: 5px; }
.scene-tools button {
  border: 1px solid var(--c-input-border);
  border-radius: var(--r-sm);
  background: rgba(24, 37, 58, 0.85);
  backdrop-filter: blur(6px); -webkit-backdrop-filter: blur(6px);
  color: var(--c-label); padding: 7px 11px; font-size: 12px;
  transition: background 0.15s, border-color 0.15s;
}
.scene-tools button:hover { background: var(--c-card-hover); border-color: var(--c-accent); }
.scene-options { padding-left: 8px; border-left: 1px solid var(--c-border); }
.annotation-toggle {
  height: 31px; display: inline-flex; align-items: center; gap: 6px;
  padding: 0 9px; border: 1px solid var(--c-input-border);
  border-radius: var(--r-sm); background: rgba(24, 37, 58, 0.85);
  backdrop-filter: blur(6px); -webkit-backdrop-filter: blur(6px);
  color: var(--c-label); font-size: 12px; cursor: pointer;
}
.annotation-toggle input { margin: 0; accent-color: var(--c-accent-light); }

.hint {
  position: absolute; z-index: 10; left: 18px; bottom: 14px;
  color: var(--c-muted); font-size: 11px; pointer-events: none;
}

/* 移动端面板切换(默认隐藏) */
.panel-toggle {
  display: none; position: absolute; z-index: 12; bottom: 16px; right: 16px;
  width: 52px; height: 52px; border: none; border-radius: 50%;
  background: var(--c-accent); color: var(--c-on-accent); font-size: 22px; line-height: 1;
  box-shadow: 0 4px 16px rgba(0,0,0,0.3);
  align-items: center; justify-content: center;
  transition: transform 0.2s, background 0.15s;
}
.panel-toggle:active { transform: scale(0.92); }
.panel-toggle.active { background: var(--c-danger); }
.panel-backdrop { display: none; }

/* ════════════════════════════════════════════════════════
   控制面板 — 深色主题,与顶部栏统一
   ════════════════════════════════════════════════════════ */
.control-panel {
  background: var(--c-panel-bg);
  backdrop-filter: blur(10px); -webkit-backdrop-filter: blur(10px);
  color: var(--c-text);
  min-height: 0;
  border-left: 1px solid var(--c-border);
  overflow-y: auto; padding: 18px 16px 28px;
  -webkit-overflow-scrolling: touch;
}

/* ── 主标签切换 ──────────────────────────────────────── */
.control-tabs {
  display: grid; grid-template-columns: 1fr 1fr 1fr; gap: 3px;
  margin-top: 0; margin-bottom: 14px; padding: 3px;
  background: var(--c-tab-track); border-radius: var(--r-sm);
}
.control-tabs button {
  border: 0; border-radius: 3px; background: transparent;
  color: var(--c-muted); padding: 8px 4px; font-size: 12px;
  transition: background 0.15s, color 0.15s;
}
.control-tabs button.active {
  background: var(--c-card-solid); color: var(--c-accent); font-weight: 700;
  box-shadow: 0 1px 3px rgba(0,0,0,0.2);
}
.control-view[hidden] { display: none; }

/* ── 姿态预设按钮 ────────────────────────────────────── */
.presets {
  display: grid; grid-template-columns: repeat(auto-fit, minmax(56px, 1fr));
  gap: 6px; padding: 14px 0 4px;
}
.presets button {
  background: var(--c-card); border: 1px solid var(--c-input-border);
  border-radius: var(--r-sm); color: var(--c-label);
  padding: 8px 3px; font-size: 12px;
  transition: background 0.12s, border-color 0.12s;
}
.presets button:hover { background: var(--c-accent-soft); border-color: var(--c-accent); color: var(--c-accent); }
.quadruped-only, .humanoid-only { display: none; }
.quadruped-only.visible, .humanoid-only.visible { display: block; }

/* ── 关节控制组 ──────────────────────────────────────── */
.control-group { padding-top: var(--sp-section); }
.control-group h2 {
  color: var(--c-heading); font-size: 12px; font-weight: 700;
  padding-bottom: 8px; border-bottom: 1px solid var(--c-border);
}

/* ── 滑块控制行 ──────────────────────────────────────── */
.control-row {
  display: grid; grid-template-columns: 1fr auto; gap: 4px 10px;
  align-items: center; padding: 9px 1px 2px; font-size: 12px;
}
.control-row > span { color: var(--c-label); }
.control-row output { color: var(--c-muted); font-family: var(--mono); font-size: 11px; }
.control-row input[type="range"] {
  grid-column: 1 / -1; width: 100%; accent-color: var(--c-accent); margin: 0;
}

/* ── 联动控制 ────────────────────────────────────────── */
.gang-toggle-row { grid-template-columns: 1fr auto; padding: 6px 1px 4px; }
.gang-toggle-row input[type="checkbox"] {
  grid-column: auto; width: auto; margin: 0 8px 0 0;
  transform: scale(1.2); cursor: pointer; accent-color: var(--c-accent);
}
.gang-toggle-row span { color: var(--c-label); font-weight: 600; }
.gang-leg-select { display: flex; flex-wrap: wrap; align-items: center; gap: 8px 14px; padding: 6px 0 4px; }
.gang-leg-label { font-size: 11px; color: var(--c-muted); margin-right: 4px; }
.gang-leg-item {
  display: inline-flex; align-items: center; gap: 3px;
  font-size: 11px; color: var(--c-label); cursor: pointer; user-select: none;
}
.gang-leg-cb { accent-color: var(--c-accent); cursor: pointer; transform: scale(1.1); }
.gang-leg-cb:disabled + * { color: var(--c-muted-2); }

/* ════════════════════════════════════════════════════════
   笛卡尔控制区
   ════════════════════════════════════════════════════════ */
.cartesian-section { padding-top: var(--sp-section); }
.cartesian-section + .cartesian-section {
  margin-top: 6px; border-top: 1px solid var(--c-border);
}
.cartesian-section h2 { color: var(--c-heading); font-size: 12px; font-weight: 700; }
.section-heading {
  display: flex; justify-content: space-between; align-items: center;
  gap: 8px; padding-bottom: 8px; border-bottom: 1px solid var(--c-border);
}
.section-heading output {
  color: var(--c-accent); font: 10px var(--mono); white-space: nowrap;
  background: var(--c-accent-soft); padding: 2px 8px;
  border-radius: 10px; border: 1px solid var(--c-accent-soft);
}
.toggle-label { display: inline-flex; align-items: center; gap: 5px; color: var(--c-muted); font-size: 11px; }
.toggle-label input { accent-color: var(--c-accent); }

/* ── 手臂/腿部标签 ───────────────────────────────────── */
.arm-tabs {
  display: grid; grid-template-columns: 1fr 1fr; gap: 4px;
  margin-top: 10px; border-bottom: 1px solid var(--c-border);
}
.arm-tabs button.active { color: var(--c-accent); box-shadow: inset 0 -2px var(--c-accent); }
.arm-control-page[hidden] { display: none; }
[data-leg-tab] { font-size: 11px; padding: 6px 2px; }
.leg-control-page[hidden] { display: none; }

/* ── 步进器 ──────────────────────────────────────────── */
.cartesian-stepper {
  display: grid;
  grid-template-columns: minmax(68px, 1fr) 38px 64px 38px;
  gap: 6px; align-items: center; min-height: 42px;
  border-bottom: 1px solid var(--c-border-light); font-size: 12px;
}
.cartesian-stepper > span { color: var(--c-label); }
.cartesian-stepper output {
  color: var(--c-accent); text-align: center; font: 11px var(--mono);
}

/* ════════════════════════════════════════════════════════
   按钮统一样式
   ════════════════════════════════════════════════════════ */
.stepper-button {
  width: 38px; height: 34px;
  border: 1px solid var(--c-input-border); border-radius: var(--r-sm);
  background: var(--c-card); color: var(--c-label);
  font-size: 17px; line-height: 1;
  touch-action: none; user-select: none;
  display: flex; align-items: center; justify-content: center;
  transition: background 0.12s, border-color 0.12s, transform 0.08s;
}
.stepper-button:hover { border-color: var(--c-accent); background: var(--c-accent-soft); color: var(--c-accent); }
.stepper-button:active, .stepper-button.pressed {
  background: rgba(78, 213, 198, 0.2); border-color: var(--c-accent);
  transform: translateY(1px);
}
.stepper-button:focus-visible { outline: 2px solid var(--c-accent); outline-offset: 1px; }

.chassis-pad {
  display: grid; grid-template-columns: repeat(3, 44px); grid-template-rows: repeat(3, 40px);
  justify-content: center; gap: 5px; padding: 14px 0 5px;
}
.chassis-pad button {
  border: 1px solid var(--c-input-border); border-radius: var(--r-sm);
  background: var(--c-card); color: var(--c-label);
  font-size: 18px; line-height: 1;
  display: flex; align-items: center; justify-content: center;
  transition: background 0.12s, border-color 0.12s;
}
.chassis-pad button:hover { border-color: var(--c-accent); background: var(--c-accent-soft); color: var(--c-accent); }
.chassis-pad button.stop { color: var(--c-danger); }

.wide-command {
  width: 100%; margin-top: 12px;
  border: 1px solid var(--c-input-border); border-radius: var(--r-sm);
  background: var(--c-card); color: var(--c-label);
  padding: 8px; font-size: 12px;
  transition: background 0.12s, border-color 0.12s;
}
.wide-command:hover { border-color: var(--c-accent); background: var(--c-accent-soft); color: var(--c-accent); }

.arm-reset { margin-top: 10px; }
.aux-reset-actions { display: grid; grid-template-columns: 1fr 1fr; gap: 7px; }
.aux-reset-actions .wide-command { margin-top: 10px; }

/* ── 状态显示 ────────────────────────────────────────── */
.ik-status {
  display: flex; justify-content: space-between; align-items: center;
  min-height: 28px; color: var(--c-muted); font-size: 10px; padding-top: 6px;
}
.ik-status strong { color: var(--c-accent); font-weight: 700; }
.ik-status strong.unreachable { color: var(--c-danger); }

/* ── 注释层 ──────────────────────────────────────────── */
.annotation-layer {
  position: absolute; z-index: 5; inset: 0; overflow: hidden; pointer-events: none;
}
.joint-annotation {
  display: flex; align-items: baseline; padding: 4px 7px;
  border: 1px solid rgba(107, 220, 207, 0.7); border-radius: 3px;
  background: rgba(9, 18, 31, 0.88); color: #f2f7fb;
  box-shadow: 0 2px 8px rgba(0,0,0,0.24);
  white-space: nowrap; transform: translate(4px, -50%);
}
.joint-annotation span { font-size: 10px; font-weight: 700; }

/* ── 关节运动曲线面板 ────────────────────────────────── */
.curves-tools {
  display: inline-flex; align-items: center; gap: 8px;
  color: var(--c-label); font-size: 12px;
}
.curves-tool-label select {
  background: rgba(24, 37, 58, 0.96); color: #f4f7fb;
  border: 1px solid var(--c-input-border);
  border-radius: var(--r-sm); padding: 5px 8px; font-size: 12px;
  font-family: inherit; cursor: pointer;
}
.curves-tool-label select:hover { border-color: var(--c-accent); }
.curves-tool-checkbox {
  display: inline-flex; align-items: center; gap: 4px;
  padding: 4px 6px; border-radius: var(--r-sm);
  cursor: pointer; user-select: none;
  border: 1px solid var(--c-input-border);
  background: rgba(24, 37, 58, 0.96);
  color: var(--c-label); font-size: 11px;
}
.curves-tool-checkbox:hover { border-color: var(--c-accent); color: var(--c-accent); }
.curves-tool-checkbox input { accent-color: var(--c-accent-light); margin: 0; }
.curves-tool-btn {
  border: 1px solid var(--c-input-border); border-radius: var(--r-sm);
  background: rgba(24, 37, 58, 0.96); color: var(--c-label);
  padding: 5px 10px; font-size: 12px;
  transition: all 0.12s;
}
.curves-tool-btn:hover { border-color: var(--c-accent); color: var(--c-accent); background: var(--c-accent-soft); }

.curves-legend {
  display: flex; align-items: center; gap: 16px;
  margin-bottom: 10px;
  color: var(--c-muted); font-size: 11px;
}
.legend-dot {
  display: inline-block; width: 10px; height: 10px; border-radius: 50%;
  margin-right: 4px; vertical-align: middle;
}
.legend-real { background: #4ed5c6; box-shadow: 0 0 0 1px rgba(78,213,198,0.25); }
.legend-target { background: #f4a261; box-shadow: 0 0 0 1px rgba(244,162,97,0.25); }

.curves-list {
  display: flex; flex-direction: column; gap: 4px;
  max-height: calc(100vh - var(--topbar-h) - 200px);
  overflow-y: auto;
  padding-right: 4px;
  scrollbar-width: thin;
}
.curves-list::-webkit-scrollbar { width: 6px; }
.curves-list::-webkit-scrollbar-thumb { background: rgba(170,193,225,0.18); border-radius: 3px; }

.curves-row {
  display: grid;
  grid-template-columns: minmax(0, 1fr);
  grid-template-rows: auto auto;
  gap: 2px;
  padding: 6px 8px;
  border-radius: var(--r-sm);
  background: rgba(30, 45, 65, 0.3);
  border: 1px solid rgba(170, 193, 225, 0.05);
}
.curves-row:hover { background: rgba(30, 45, 65, 0.48); }

.curves-row-label {
  display: flex; justify-content: space-between; align-items: center;
  gap: 8px;
  font-size: 11px;
}
.curves-joint-name {
  color: var(--c-label);
  font-weight: 600;
  font-family: ui-monospace, SFMono-Regular, Menlo, monospace;
  white-space: nowrap;
  overflow: hidden; text-overflow: ellipsis; max-width: 200px;
}
.curves-joint-value {
  color: var(--c-accent);
  font-family: ui-monospace, SFMono-Regular, Menlo, monospace;
  font-weight: 700;
  font-size: 11px;
  flex-shrink: 0;
}

.curves-canvas-wrap {
  width: 100%;
  height: 44px;
  border-radius: var(--r-sm);
  overflow: hidden;
}
.curves-canvas {
  display: block;
  width: 100%;
  height: 100%;
  border-radius: var(--r-sm);
  image-rendering: auto;
}

/* ════════════════════════════════════════════════════════
   响应式:平板(768px ~ 1024px)
   ════════════════════════════════════════════════════════ */
@media (max-width: 1024px) {
  :root { --panel-width: 300px; }
  .brand { font-size: 13px; }
}

/* ════════════════════════════════════════════════════════
   响应式:手机(< 768px) — 上下分屏同时显示
   ════════════════════════════════════════════════════════ */
@media (max-width: 768px) {
  #app {
    grid-template-columns: 1fr;
    grid-template-rows: 55vh minmax(0, 1fr);
  }
  .control-panel {
    border-left: none;
    border-top: 1px solid var(--c-border);
    padding: 12px 12px 20px;
  }
  .panel-toggle { display: none !important; }
  .panel-backdrop { display: none !important; }
  .topbar { height: 44px; padding: 0 10px; gap: 8px; }
  .brand { font-size: 12px; }
  .load-status { max-width: 100px; font-size: 11px; }
  .model-switcher select { padding: 5px 6px; font-size: 11px; }
  .scene-tools { top: 52px; left: 10px; right: 10px; flex-wrap: wrap; gap: 5px; }
  .scene-tools button { padding: 6px 8px; font-size: 11px; }
  .hint { display: none; }
  .chassis-pad {
    grid-template-columns: repeat(3, 50px);
    grid-template-rows: repeat(3, 44px); gap: 5px;
  }
  .chassis-pad button { font-size: 20px; }
  .stepper-button { width: 40px; height: 36px; font-size: 18px; }
  .control-row input[type="range"] { height: 24px; }
}

/* ════════════════════════════════════════════════════════
   响应式:小手机(< 380px)
   ════════════════════════════════════════════════════════ */
@media (max-width: 380px) {
  .topbar { gap: 6px; padding: 0 10px; }
  .brand { font-size: 11px; }
  .load-status { max-width: 80px; }
  .model-switcher label { display: none; }
  .scene-tools button { padding: 5px 7px; font-size: 10px; }
  .chassis-pad { grid-template-columns: repeat(3, 46px); grid-template-rows: repeat(3, 42px); }
}