"""
Unified Movement Manager for Reachy Mini.

This module provides a centralized control system for robot movements,
inspired by the reachy_mini_conversation_app architecture.

Key features:
- Single 100Hz control loop (prevents race conditions)
- Command queue pattern (thread-safe external API)
- Error throttling (prevents log explosion)
- Speech-driven head sway
- Breathing animation during idle
- Graceful shutdown
"""

import logging
import math
import threading
import time
from dataclasses import dataclass, field
from enum import Enum
from queue import Queue, Empty
from typing import Any, Callable, Dict, List, Optional, Tuple, TYPE_CHECKING

import numpy as np
from scipy.spatial.transform import Rotation as R

if TYPE_CHECKING:
    from reachy_mini import ReachyMini

logger = logging.getLogger(__name__)


# =============================================================================
# Constants (borrowed from conversation_app)
# =============================================================================

CONTROL_LOOP_FREQUENCY_HZ = 100  # 100Hz control loop
TARGET_PERIOD = 1.0 / CONTROL_LOOP_FREQUENCY_HZ

# Speech sway parameters (from conversation_app SwayRollRT)
# Rotation amplitudes
SWAY_A_PITCH_DEG = 4.5   # Pitch amplitude (degrees)
SWAY_A_YAW_DEG = 7.5     # Yaw amplitude
SWAY_A_ROLL_DEG = 2.25   # Roll amplitude
# Rotation frequencies
SWAY_F_PITCH = 2.2       # Pitch frequency Hz
SWAY_F_YAW = 0.6         # Yaw frequency
SWAY_F_ROLL = 1.3        # Roll frequency
# Translation amplitudes (mm -> m)
SWAY_A_X_MM = 4.5        # X amplitude (mm)
SWAY_A_Y_MM = 3.75       # Y amplitude (mm)
SWAY_A_Z_MM = 2.25       # Z amplitude (mm)
# Translation frequencies
SWAY_F_X = 0.35          # X frequency Hz
SWAY_F_Y = 0.45          # Y frequency Hz
SWAY_F_Z = 0.25          # Z frequency Hz
# Master scale
SWAY_MASTER = 1.5        # Overall sway intensity multiplier

# Breathing parameters
BREATHING_Z_AMPLITUDE = 0.005  # 5mm
BREATHING_FREQUENCY = 0.1     # 0.1Hz (6 breaths per minute)
ANTENNA_SWAY_AMPLITUDE_DEG = 15.0  # 15 degrees
ANTENNA_FREQUENCY = 0.5       # 0.5Hz

# VAD parameters for speech detection
VAD_DB_ON = -35   # Start detection threshold
VAD_DB_OFF = -45  # Stop detection threshold

# Antenna freeze parameters (listening mode)
ANTENNA_BLEND_DURATION = 0.5  # Seconds to blend back from frozen state


class RobotState(Enum):
    """Robot state machine states."""
    IDLE = "idle"
    LISTENING = "listening"
    THINKING = "thinking"
    SPEAKING = "speaking"


@dataclass
class MovementState:
    """Internal movement state (only modified by control loop)."""
    # Current robot state
    robot_state: RobotState = RobotState.IDLE

    # Speech sway offsets (radians for rotation, meters for translation)
    speech_pitch: float = 0.0
    speech_yaw: float = 0.0
    speech_roll: float = 0.0
    speech_x: float = 0.0
    speech_y: float = 0.0
    speech_z: float = 0.0

    # Breathing offsets
    breathing_z: float = 0.0
    breathing_antenna_left: float = 0.0
    breathing_antenna_right: float = 0.0

    # Target pose (from actions)
    target_pitch: float = 0.0
    target_yaw: float = 0.0
    target_roll: float = 0.0
    target_x: float = 0.0
    target_y: float = 0.0
    target_z: float = 0.0
    target_antenna_left: float = 0.0
    target_antenna_right: float = 0.0
    target_body_yaw: float = 0.0

    # Timing
    last_activity_time: float = 0.0
    idle_start_time: float = 0.0

    # Speech sway state
    sway_time: float = 0.0
    sway_envelope: float = 0.0  # 0-1, smoothed VAD
    sway_phase_pitch: float = 0.0
    sway_phase_yaw: float = 0.0
    sway_phase_roll: float = 0.0
    sway_phase_x: float = 0.0
    sway_phase_y: float = 0.0
    sway_phase_z: float = 0.0

    # Breathing state
    breathing_time: float = 0.0
    breathing_active: bool = False

    # Antenna freeze state (listening mode)
    antenna_frozen: bool = False
    frozen_antenna_left: float = 0.0
    frozen_antenna_right: float = 0.0
    antenna_blend: float = 1.0  # 0=frozen, 1=normal
    antenna_blend_start_time: float = 0.0


@dataclass
class PendingAction:
    """A pending motion action."""
    name: str
    target_pitch: float = 0.0
    target_yaw: float = 0.0
    target_roll: float = 0.0
    target_x: float = 0.0
    target_y: float = 0.0
    target_z: float = 0.0
    duration: float = 0.5
    callback: Optional[Callable] = None


class SpeechSwayGenerator:
    """
    Generates speech-driven head sway based on audio loudness.

    Uses multiple sine wave oscillators at different frequencies
    to create natural-looking "Lissajous" motion.
    Includes both rotation (pitch/yaw/roll) and translation (x/y/z).
    """

    def __init__(self, seed: int = 7):
        # Random initial phases (avoid mechanical feel)
        rng = np.random.default_rng(seed)
        self.phase_pitch = float(rng.random() * 2 * math.pi)
        self.phase_yaw = float(rng.random() * 2 * math.pi)
        self.phase_roll = float(rng.random() * 2 * math.pi)
        self.phase_x = float(rng.random() * 2 * math.pi)
        self.phase_y = float(rng.random() * 2 * math.pi)
        self.phase_z = float(rng.random() * 2 * math.pi)

        # State
        self.t = 0.0
        self.vad_on = False
        self.envelope = 0.0  # Smoothed VAD [0, 1]
        self.last_db = -100.0

    def reset(self):
        """Reset state."""
        self.t = 0.0
        self.vad_on = False
        self.envelope = 0.0
        self.last_db = -100.0

    def update(self, dt: float, loudness_db: float) -> Tuple[float, float, float, float, float, float]:
        """
        Update sway based on audio loudness.

        Args:
            dt: Time delta in seconds
            loudness_db: Audio loudness in dBFS

        Returns:
            Tuple of (pitch_rad, yaw_rad, roll_rad, x_m, y_m, z_m) offsets
        """
        self.t += dt
        self.last_db = loudness_db

        # VAD detection with hysteresis
        if loudness_db >= VAD_DB_ON:
            self.vad_on = True
        elif loudness_db <= VAD_DB_OFF:
            self.vad_on = False

        # Smooth envelope
        target = 1.0 if self.vad_on else 0.0
        self.envelope += 0.1 * (target - self.envelope)
        self.envelope = max(0.0, min(1.0, self.envelope))

        # Loudness mapping: -50dB -> 0, -20dB -> 1
        loud = max(0.0, min(1.0, (loudness_db + 50) / 30))

        # Apply master scale
        env = self.envelope * SWAY_MASTER

        # Generate rotation sway
        pitch = (math.radians(SWAY_A_PITCH_DEG) * loud * env *
                math.sin(2 * math.pi * SWAY_F_PITCH * self.t + self.phase_pitch))
        yaw = (math.radians(SWAY_A_YAW_DEG) * loud * env *
              math.sin(2 * math.pi * SWAY_F_YAW * self.t + self.phase_yaw))
        roll = (math.radians(SWAY_A_ROLL_DEG) * loud * env *
               math.sin(2 * math.pi * SWAY_F_ROLL * self.t + self.phase_roll))

        # Generate translation sway (mm -> m)
        x = (SWAY_A_X_MM / 1000.0 * loud * env *
             math.sin(2 * math.pi * SWAY_F_X * self.t + self.phase_x))
        y = (SWAY_A_Y_MM / 1000.0 * loud * env *
             math.sin(2 * math.pi * SWAY_F_Y * self.t + self.phase_y))
        z = (SWAY_A_Z_MM / 1000.0 * loud * env *
             math.sin(2 * math.pi * SWAY_F_Z * self.t + self.phase_z))

        return pitch, yaw, roll, x, y, z


class BreathingAnimation:
    """
    Generates idle breathing animation.

    Creates subtle Z-axis movement and antenna sway to make
    the robot appear more alive when idle.
    """

    def __init__(self):
        self.t = 0.0
        self.active = False
        self.blend = 0.0  # Blend factor for smooth transitions

    def reset(self):
        """Reset animation."""
        self.t = 0.0
        self.blend = 0.0

    def set_active(self, active: bool):
        """Set whether breathing is active."""
        self.active = active

    def update(self, dt: float) -> Tuple[float, float, float]:
        """
        Update breathing animation.

        Args:
            dt: Time delta in seconds

        Returns:
            Tuple of (z_offset_m, antenna_left_rad, antenna_right_rad)
        """
        self.t += dt

        # Smooth blend in/out
        target_blend = 1.0 if self.active else 0.0
        blend_speed = 0.5  # Blend over ~2 seconds
        self.blend += blend_speed * dt * (target_blend - self.blend)
        self.blend = max(0.0, min(1.0, self.blend))

        if self.blend < 0.001:
            return 0.0, 0.0, 0.0

        # Z breathing
        z_offset = (BREATHING_Z_AMPLITUDE * self.blend *
                   math.sin(2 * math.pi * BREATHING_FREQUENCY * self.t))

        # Antenna sway (opposite directions for natural look)
        antenna_angle = (math.radians(ANTENNA_SWAY_AMPLITUDE_DEG) * self.blend *
                        math.sin(2 * math.pi * ANTENNA_FREQUENCY * self.t))

        return z_offset, antenna_angle, -antenna_angle


class MovementManager:
    """
    Unified movement manager with 100Hz control loop.

    All external interactions go through the command queue,
    ensuring thread safety and preventing race conditions.
    """

    def __init__(self, reachy_mini: Optional["ReachyMini"] = None):
        self.robot = reachy_mini
        self._now = time.monotonic

        # Command queue - all external threads communicate through this
        self._command_queue: Queue[Tuple[str, Any]] = Queue()

        # Internal state (only modified by control loop)
        self.state = MovementState()
        self.state.last_activity_time = self._now()
        self.state.idle_start_time = self._now()

        # Initialize random phases for sway
        rng = np.random.default_rng(42)
        self.state.sway_phase_pitch = float(rng.random() * 2 * math.pi)
        self.state.sway_phase_yaw = float(rng.random() * 2 * math.pi)
        self.state.sway_phase_roll = float(rng.random() * 2 * math.pi)

        # Sub-modules
        self._speech_sway = SpeechSwayGenerator()
        self._breathing = BreathingAnimation()

        # Thread control
        self._stop_event = threading.Event()
        self._thread: Optional[threading.Thread] = None

        # Error throttling
        self._last_error_time = 0.0
        self._error_interval = 1.0  # Log at most once per second
        self._suppressed_errors = 0

        # Connection health tracking
        self._connection_lost = False
        self._last_successful_command = self._now()
        self._connection_timeout = 5.0  # 5 seconds without success = connection lost
        self._reconnect_attempt_interval = 10.0  # Try reconnecting every 10 seconds
        self._last_reconnect_attempt = 0.0

        # Pending action
        self._pending_action: Optional[PendingAction] = None
        self._action_start_time: float = 0.0
        self._action_start_pose: Dict[str, float] = {}

        # Audio loudness (updated externally)
        self._audio_loudness_db: float = -100.0
        self._audio_lock = threading.Lock()

        logger.info("MovementManager initialized")

    # =========================================================================
    # Thread-safe public API (called from any thread)
    # =========================================================================

    def set_state(self, new_state: RobotState) -> None:
        """Thread-safe: Set robot state."""
        self._command_queue.put(("set_state", new_state))

    def set_listening(self, listening: bool) -> None:
        """Thread-safe: Set listening state."""
        state = RobotState.LISTENING if listening else RobotState.IDLE
        self._command_queue.put(("set_state", state))

    def set_thinking(self) -> None:
        """Thread-safe: Set thinking state."""
        self._command_queue.put(("set_state", RobotState.THINKING))

    def set_speaking(self, speaking: bool) -> None:
        """Thread-safe: Set speaking state."""
        state = RobotState.SPEAKING if speaking else RobotState.IDLE
        self._command_queue.put(("set_state", state))

    def set_idle(self) -> None:
        """Thread-safe: Return to idle state."""
        self._command_queue.put(("set_state", RobotState.IDLE))

    def queue_action(self, action: PendingAction) -> None:
        """Thread-safe: Queue a motion action."""
        self._command_queue.put(("action", action))

    def turn_to_angle(self, yaw_deg: float, duration: float = 0.8) -> None:
        """Thread-safe: Turn head to face a direction."""
        action = PendingAction(
            name="turn_to",
            target_yaw=math.radians(yaw_deg),
            duration=duration,
        )
        self._command_queue.put(("action", action))

    def nod(self, amplitude_deg: float = 15, duration: float = 0.5) -> None:
        """Thread-safe: Perform a nod gesture."""
        self._command_queue.put(("nod", (amplitude_deg, duration)))

    def shake(self, amplitude_deg: float = 20, duration: float = 0.5) -> None:
        """Thread-safe: Perform a head shake gesture."""
        self._command_queue.put(("shake", (amplitude_deg, duration)))

    def update_audio_loudness(self, loudness_db: float) -> None:
        """Thread-safe: Update audio loudness for speech sway."""
        with self._audio_lock:
            self._audio_loudness_db = loudness_db

    def reset_to_neutral(self, duration: float = 0.5) -> None:
        """Thread-safe: Reset to neutral position."""
        action = PendingAction(
            name="neutral",
            target_pitch=0.0,
            target_yaw=0.0,
            target_roll=0.0,
            target_x=0.0,
            target_y=0.0,
            target_z=0.0,
            duration=duration,
        )
        self._command_queue.put(("action", action))

    # =========================================================================
    # Internal: Command processing (runs in control loop)
    # =========================================================================

    def _poll_commands(self) -> None:
        """Process all pending commands from the queue."""
        while True:
            try:
                cmd, payload = self._command_queue.get_nowait()
            except Empty:
                break

            self._handle_command(cmd, payload)

    def _handle_command(self, cmd: str, payload: Any) -> None:
        """Handle a single command."""
        if cmd == "set_state":
            old_state = self.state.robot_state
            self.state.robot_state = payload
            self.state.last_activity_time = self._now()

            # State transition logic
            if payload == RobotState.IDLE and old_state != RobotState.IDLE:
                self.state.idle_start_time = self._now()
                self._breathing.set_active(True)
                self._speech_sway.reset()
                # Unfreeze antennas when returning to idle
                self._start_antenna_unfreeze()
            elif payload != RobotState.IDLE:
                self._breathing.set_active(False)

            if payload == RobotState.SPEAKING:
                self._speech_sway.reset()

            # Freeze antennas when entering listening mode
            if payload == RobotState.LISTENING:
                self._freeze_antennas()
            elif old_state == RobotState.LISTENING and payload != RobotState.LISTENING:
                # Start unfreezing when leaving listening mode
                self._start_antenna_unfreeze()

            logger.debug("State changed: %s -> %s", old_state.value, payload.value)

        elif cmd == "action":
            self._start_action(payload)

        elif cmd == "nod":
            amplitude_deg, duration = payload
            self._do_nod(amplitude_deg, duration)

        elif cmd == "shake":
            amplitude_deg, duration = payload
            self._do_shake(amplitude_deg, duration)

    def _start_action(self, action: PendingAction) -> None:
        """Start a new motion action."""
        self._pending_action = action
        self._action_start_time = self._now()
        self._action_start_pose = {
            "pitch": self.state.target_pitch,
            "yaw": self.state.target_yaw,
            "roll": self.state.target_roll,
            "x": self.state.target_x,
            "y": self.state.target_y,
            "z": self.state.target_z,
        }
        logger.debug("Starting action: %s", action.name)

    def _do_nod(self, amplitude_deg: float, duration: float) -> None:
        """Execute nod gesture (blocking in control loop context)."""
        # This is simplified - in production, use action queue
        amplitude_rad = math.radians(amplitude_deg)
        half_duration = duration / 2

        # Nod down
        action_down = PendingAction(
            name="nod_down",
            target_pitch=amplitude_rad,
            duration=half_duration,
        )
        self._start_action(action_down)

    def _do_shake(self, amplitude_deg: float, duration: float) -> None:
        """Execute shake gesture (blocking in control loop context)."""
        amplitude_rad = math.radians(amplitude_deg)
        half_duration = duration / 2

        # Shake left
        action_left = PendingAction(
            name="shake_left",
            target_yaw=-amplitude_rad,
            duration=half_duration,
        )
        self._start_action(action_left)

    # =========================================================================
    # Internal: Motion updates (runs in control loop)
    # =========================================================================

    def _update_action(self, dt: float) -> None:
        """Update pending action interpolation."""
        if self._pending_action is None:
            return

        elapsed = self._now() - self._action_start_time
        progress = min(1.0, elapsed / self._pending_action.duration)

        # Smooth interpolation (ease in-out)
        t = progress * progress * (3 - 2 * progress)

        # Interpolate pose
        start = self._action_start_pose
        action = self._pending_action

        self.state.target_pitch = start["pitch"] + t * (action.target_pitch - start["pitch"])
        self.state.target_yaw = start["yaw"] + t * (action.target_yaw - start["yaw"])
        self.state.target_roll = start["roll"] + t * (action.target_roll - start["roll"])
        self.state.target_x = start["x"] + t * (action.target_x - start["x"])
        self.state.target_y = start["y"] + t * (action.target_y - start["y"])
        self.state.target_z = start["z"] + t * (action.target_z - start["z"])

        # Action complete
        if progress >= 1.0:
            if self._pending_action.callback:
                try:
                    self._pending_action.callback()
                except Exception as e:
                    logger.error("Action callback error: %s", e)
            self._pending_action = None

    def _update_speech_sway(self, dt: float) -> None:
        """Update speech-driven head sway."""
        if self.state.robot_state != RobotState.SPEAKING:
            # Decay sway when not speaking
            self.state.speech_pitch *= 0.9
            self.state.speech_yaw *= 0.9
            self.state.speech_roll *= 0.9
            self.state.speech_x *= 0.9
            self.state.speech_y *= 0.9
            self.state.speech_z *= 0.9
            return

        # Get current audio loudness
        with self._audio_lock:
            loudness_db = self._audio_loudness_db

        # Update sway generator
        pitch, yaw, roll, x, y, z = self._speech_sway.update(dt, loudness_db)

        self.state.speech_pitch = pitch
        self.state.speech_yaw = yaw
        self.state.speech_roll = roll
        self.state.speech_x = x
        self.state.speech_y = y
        self.state.speech_z = z

    def _update_breathing(self, dt: float) -> None:
        """Update breathing animation."""
        z_offset, antenna_left, antenna_right = self._breathing.update(dt)

        self.state.breathing_z = z_offset
        self.state.breathing_antenna_left = antenna_left
        self.state.breathing_antenna_right = antenna_right

    def _freeze_antennas(self) -> None:
        """Freeze antennas at current position (for listening mode)."""
        # Capture current antenna positions
        current_left = self.state.target_antenna_left + self.state.breathing_antenna_left
        current_right = self.state.target_antenna_right + self.state.breathing_antenna_right

        self.state.antenna_frozen = True
        self.state.frozen_antenna_left = current_left
        self.state.frozen_antenna_right = current_right
        self.state.antenna_blend = 0.0  # Fully frozen
        logger.debug("Antennas frozen at left=%.2f, right=%.2f",
                    math.degrees(current_left), math.degrees(current_right))

    def _start_antenna_unfreeze(self) -> None:
        """Start unfreezing antennas (smooth blend back to normal)."""
        if not self.state.antenna_frozen:
            return

        self.state.antenna_blend_start_time = self._now()
        logger.debug("Starting antenna unfreeze")

    def _update_antenna_blend(self, dt: float) -> None:
        """Update antenna blend state for smooth unfreezing."""
        if not self.state.antenna_frozen:
            return

        if self.state.antenna_blend >= 1.0:
            # Fully unfrozen
            self.state.antenna_frozen = False
            return

        # Calculate blend progress
        elapsed = self._now() - self.state.antenna_blend_start_time
        if elapsed > 0:
            self.state.antenna_blend = min(1.0, elapsed / ANTENNA_BLEND_DURATION)

            if self.state.antenna_blend >= 1.0:
                self.state.antenna_frozen = False
                logger.debug("Antennas unfrozen")

    def _compose_final_pose(self) -> Dict[str, float]:
        """Compose final pose from all sources."""
        # Primary pose (from actions)
        pitch = self.state.target_pitch
        yaw = self.state.target_yaw
        roll = self.state.target_roll
        x = self.state.target_x
        y = self.state.target_y
        z = self.state.target_z

        # Add speech sway (secondary) - rotation and translation
        pitch += self.state.speech_pitch
        yaw += self.state.speech_yaw
        roll += self.state.speech_roll
        x += self.state.speech_x
        y += self.state.speech_y
        z += self.state.speech_z

        # Add breathing
        z += self.state.breathing_z

        # Antenna pose with freeze blending
        target_antenna_left = self.state.target_antenna_left + self.state.breathing_antenna_left
        target_antenna_right = self.state.target_antenna_right + self.state.breathing_antenna_right

        # Apply antenna freeze blending (listening mode)
        blend = self.state.antenna_blend
        if blend < 1.0:
            # Blend between frozen position and target position
            antenna_left = (self.state.frozen_antenna_left * (1.0 - blend) +
                          target_antenna_left * blend)
            antenna_right = (self.state.frozen_antenna_right * (1.0 - blend) +
                           target_antenna_right * blend)
        else:
            antenna_left = target_antenna_left
            antenna_right = target_antenna_right

        return {
            "pitch": pitch,
            "yaw": yaw,
            "roll": roll,
            "x": x,
            "y": y,
            "z": z,
            "antenna_left": antenna_left,
            "antenna_right": antenna_right,
            "body_yaw": self.state.target_body_yaw,
        }

    # =========================================================================
    # Internal: Robot control (runs in control loop)
    # =========================================================================

    def _issue_control_command(self, pose: Dict[str, float]) -> None:
        """Send control command to robot with error throttling and connection health tracking."""
        if self.robot is None:
            return

        # Check if connection is lost and we should skip sending commands
        now = self._now()
        if self._connection_lost:
            time_since_last_success = now - self._last_successful_command

            # Only attempt reconnection every N seconds
            if now - self._last_reconnect_attempt >= self._reconnect_attempt_interval:
                self._last_reconnect_attempt = now
                logger.info("Attempting to send command after connection loss...")
            else:
                # Skip sending commands to reduce error spam
                return

        try:
            # Build head pose matrix
            rotation = R.from_euler('xyz', [
                pose["pitch"],
                pose["roll"],  # Note: SDK uses different order
                pose["yaw"],
            ])

            head_pose = np.eye(4)
            head_pose[:3, :3] = rotation.as_matrix()
            head_pose[0, 3] = pose["x"]
            head_pose[1, 3] = pose["y"]
            head_pose[2, 3] = pose["z"]

            # Send to robot (single control point!)
            self.robot.set_target(
                head=head_pose,
                antennas=[pose["antenna_right"], pose["antenna_left"]],
                body_yaw=pose["body_yaw"],
            )

            # Command succeeded - update connection health
            self._last_successful_command = now
            if self._connection_lost:
                logger.info("✓ Connection to robot restored")
                self._connection_lost = False
                self._suppressed_errors = 0  # Reset error counter

        except Exception as e:
            error_msg = str(e)

            # Check if this is a connection error
            if "Lost connection" in error_msg or "ZError" in error_msg:
                time_since_last_success = now - self._last_successful_command

                if not self._connection_lost and time_since_last_success > self._connection_timeout:
                    # First time detecting connection loss
                    logger.error(f"✗ Lost connection to robot daemon: {error_msg}")
                    logger.error("  Troubleshooting steps:")
                    logger.error("  1. Check if Reachy Mini Daemon is running: sudo systemctl status reachy-mini-daemon")
                    logger.error("  2. Verify Zenoh service on port 7447: netstat -tlnp | grep 7447")
                    logger.error("  3. Check robot hardware connections")
                    logger.error("  4. Review daemon logs: sudo journalctl -u reachy-mini-daemon -n 50")
                    logger.error(f"  Will retry connection every {self._reconnect_attempt_interval}s...")
                    self._connection_lost = True
                    self._last_reconnect_attempt = now
                elif self._connection_lost:
                    # Already in lost state, use throttled logging
                    self._log_error_throttled(f"Connection still lost: {error_msg}")
                else:
                    # Transient error, not yet considered lost
                    self._log_error_throttled(f"Failed to set robot target: {error_msg}")
            else:
                # Non-connection error
                self._log_error_throttled(f"Failed to set robot target: {error_msg}")

    def _log_error_throttled(self, message: str) -> None:
        """Log error with throttling to prevent log explosion."""
        now = self._now()
        if now - self._last_error_time >= self._error_interval:
            if self._suppressed_errors > 0:
                message += f" (suppressed {self._suppressed_errors} repeats)"
                self._suppressed_errors = 0
            logger.error(message)
            self._last_error_time = now
        else:
            self._suppressed_errors += 1

    # =========================================================================
    # Control loop
    # =========================================================================

    def _control_loop(self) -> None:
        """Main 100Hz control loop."""
        logger.info("Movement manager control loop started (%.0f Hz)", CONTROL_LOOP_FREQUENCY_HZ)

        last_time = self._now()

        while not self._stop_event.is_set():
            loop_start = self._now()
            dt = loop_start - last_time
            last_time = loop_start

            try:
                # 1. Process commands from queue
                self._poll_commands()

                # 2. Update action interpolation
                self._update_action(dt)

                # 3. Update speech sway
                self._update_speech_sway(dt)

                # 4. Update breathing animation
                self._update_breathing(dt)

                # 5. Update antenna blend (listening mode freeze/unfreeze)
                self._update_antenna_blend(dt)

                # 6. Compose final pose
                pose = self._compose_final_pose()

                # 7. Send to robot (single control point!)
                self._issue_control_command(pose)

            except Exception as e:
                self._log_error_throttled(f"Control loop error: {e}")

            # Adaptive sleep
            elapsed = self._now() - loop_start
            sleep_time = max(0.0, TARGET_PERIOD - elapsed)
            if sleep_time > 0:
                time.sleep(sleep_time)

        logger.info("Movement manager control loop stopped")

    # =========================================================================
    # Lifecycle
    # =========================================================================

    def start(self) -> None:
        """Start the control loop."""
        if self._thread is not None and self._thread.is_alive():
            logger.warning("Movement manager already running")
            return

        self._stop_event.clear()
        self._thread = threading.Thread(
            target=self._control_loop,
            daemon=True,
            name="MovementManager",
        )
        self._thread.start()
        logger.info("Movement manager started")

    def stop(self) -> None:
        """Stop the control loop and reset robot."""
        if self._thread is None or not self._thread.is_alive():
            return

        logger.info("Stopping movement manager...")

        # Signal stop
        self._stop_event.set()

        # Wait for thread
        self._thread.join(timeout=2.0)
        if self._thread.is_alive():
            logger.warning("Movement manager thread did not stop in time")

        # Reset robot to neutral
        self._reset_to_neutral_blocking()

        logger.info("Movement manager stopped")

    def _reset_to_neutral_blocking(self) -> None:
        """Reset robot to neutral position (blocking)."""
        if self.robot is None:
            return

        try:
            neutral_pose = np.eye(4)
            self.robot.goto_target(
                head=neutral_pose,
                antennas=[0.0, 0.0],
                body_yaw=0.0,
                duration=1.0,
            )
            logger.info("Robot reset to neutral position")
        except Exception as e:
            logger.error("Failed to reset robot: %s", e)

    @property
    def is_running(self) -> bool:
        """Check if control loop is running."""
        return self._thread is not None and self._thread.is_alive()