@page "/robot-state"
@using RobotApp.Client.Services
@using RobotApp.VDA5050.State
@inject RobotStateClient RobotStateClient
@implements IDisposable
@rendermode InteractiveWebAssembly

<MudContainer MaxWidth="MaxWidth.False" Class="pa-4">
    <!-- ===================================================== -->
    <!-- HEADER -->
    <!-- ===================================================== -->
    <MudPaper Class="pa-6 mb-4 d-flex align-center justify-space-between" Elevation="3">
        <div>
            <MudText Typo="Typo.h4">🤖 VDA 5050 Robot Dashboard</MudText>
            @if (CurrentState != null)
            {
                <MudText Typo="Typo.subtitle2" Color="Color.Secondary">
                    @CurrentState.Version •
                    @CurrentState.Manufacturer •
                    @CurrentState.SerialNumber
                </MudText>
            }
            else
            {
                <MudText Typo="Typo.subtitle2" Color="Color.Secondary">
                    Connecting to robot...
                </MudText>
            }
        </div>

        @if (CurrentState != null)
        {
            <MudChip T="string" Size="Size.Large"
                     Color="@(IsConnected ? Color.Success : Color.Error)"
                     Variant="Variant.Filled">
                @(IsConnected ? "ONLINE" : "OFFLINE")
            </MudChip>
        }
    </MudPaper>

    @if (CurrentState == null)
    {
        <MudAlert Severity="Severity.Info" Variant="Variant.Outlined" Class="mb-4">
            <MudAlertTitle>Waiting for robot state data...</MudAlertTitle>
            Connecting to SignalR hub and subscribing to robot updates.
            <MudProgressLinear Indeterminate Class="mt-3" />
        </MudAlert>
    }
    else
    {
        var msg = CurrentState;

        <!-- ===================================================== -->
        <!-- MESSAGE META -->
        <!-- ===================================================== -->
        <MudPaper Class="pa-3 mb-4" Elevation="1">
            <MudGrid Spacing="2">
                <MudItem xs="12" md="3">
                    <MudText Typo="Typo.caption">HeaderId</MudText>
                    <MudText>@msg.HeaderId</MudText>
                </MudItem>
                <MudItem xs="12" md="5">
                    <MudText Typo="Typo.caption">Timestamp (UTC)</MudText>
                    <MudText>@msg.Timestamp</MudText>
                </MudItem>
                <MudItem xs="12" md="2">
                    <MudText Typo="Typo.caption">Version</MudText>
                    <MudText>@msg.Version</MudText>
                </MudItem>
                <MudItem xs="12" md="2">
                    <MudText Typo="Typo.caption">OrderUpdateId</MudText>
                    <MudChip T="string" Color="Color.Primary">@msg.OrderUpdateId</MudChip>
                </MudItem>
            </MudGrid>
        </MudPaper>

        <!-- ===================================================== -->
        <!-- MAIN GRID -->
        <!-- ===================================================== -->
        <MudGrid Spacing="4">
            <!-- POSITION + VELOCITY -->
            <MudItem xs="12" md="6" lg="4">
                <MudPaper Class="pa-5 h-100" Elevation="2">
                    <MudGrid AlignItems="AlignItems.Center">
                        <MudItem xs="8">
                            <MudText Typo="Typo.h6">📍 Position & Velocity</MudText>
                        </MudItem>
                        <MudItem xs="4" Class="d-flex justify-end">
                            <MudChip T="string" Size="Size.Small"
                                     Color="@(msg.NewBaseRequest ? Color.Success : Color.Error)">
                                NewBase: @(msg.NewBaseRequest ? "TRUE" : "FALSE")
                            </MudChip>
                        </MudItem>
                    </MudGrid>
                    <MudDivider Class="my-3" />
                    <MudGrid Spacing="1">
                        <MudItem xs="6">
                            <MudText>X: <b>@msg.AgvPosition.X.ToString("F2")</b> m</MudText>
                            <MudText>Y: <b>@msg.AgvPosition.Y.ToString("F2")</b> m</MudText>
                            <MudText>θ: <b>@msg.AgvPosition.Theta.ToString("F2")</b> rad</MudText>
                        </MudItem>
                        <MudItem xs="6">
                            <MudText>Vx: <b>@msg.Velocity.Vx.ToString("F2")</b> m/s</MudText>
                            <MudText>Vy: <b>@msg.Velocity.Vy.ToString("F2")</b> m/s</MudText>
                            <MudText>Ω: <b>@msg.Velocity.Omega.ToString("F3")</b> rad/s</MudText>
                        </MudItem>
                    </MudGrid>
                    <MudDivider Class="my-3" />
                    <MudGrid Spacing="1">
                        <MudItem xs="6">
                            <MudChip T="string" Size="Size.Small"
                                     Color="@(msg.AgvPosition.PositionInitialized ? Color.Success : Color.Error)">
                                Initialized: @(msg.AgvPosition.PositionInitialized ? "TRUE" : "FALSE")
                            </MudChip>
                        </MudItem>
                        <MudItem xs="6" Class="d-flex justify-end">
                            <MudText Typo="Typo.caption">
                                Deviation: <b>@msg.AgvPosition.DeviationRange</b>
                            </MudText>
                        </MudItem>
                    </MudGrid>
                    <MudProgressLinear Value="@(msg.AgvPosition.LocalizationScore * 100)"
                                       Class="mt-3"
                                       Color="Color.Success" />
                    <MudText Typo="Typo.caption">
                        Localization Score: @(msg.AgvPosition.LocalizationScore * 100) %
                    </MudText>
                </MudPaper>
            </MudItem>

            <!-- BATTERY -->
            <MudItem xs="12" md="6" lg="4">
                <MudPaper Class="pa-5 h-100" Elevation="2">
                    <MudText Typo="Typo.h6">🔋 Battery</MudText>
                    <MudDivider Class="my-3" />
                    <MudProgressLinear Value="@msg.BatteryState.BatteryCharge"
                                       Size="Size.Large"
                                       Rounded
                                       Color="@(msg.BatteryState.BatteryCharge > 50 ? Color.Success :
                                                msg.BatteryState.BatteryCharge > 20 ? Color.Warning : Color.Error)" />
                    <MudText Typo="Typo.h4" Class="mt-2">
                        @msg.BatteryState.BatteryCharge:F1 %
                    </MudText>
                    <MudChip T="string" Size="Size.Small"
                             Color="@(msg.BatteryState.Charging ? Color.Info : Color.Default)">
                        @(msg.BatteryState.Charging ? "⚡ Charging" : "Discharging")
                    </MudChip>
                    <MudDivider Class="my-3" />
                    <MudGrid Spacing="1">
                        <MudItem xs="4">
                            <MudText Typo="Typo.caption">Voltage</MudText>
                            <MudText><b>@msg.BatteryState.BatteryVoltage.ToString("F1")</b> V</MudText>
                        </MudItem>
                        <MudItem xs="4">
                            <MudText Typo="Typo.caption">Health (SOH)</MudText>
                            <MudText><b>@msg.BatteryState.BatteryHealth</b> %</MudText>
                        </MudItem>
                        <MudItem xs="4">
                            <MudText Typo="Typo.caption">Reach</MudText>
                            <MudText><b>@((int)msg.BatteryState.Reach)</b> m</MudText>
                        </MudItem>
                    </MudGrid>
                </MudPaper>
            </MudItem>

            <!-- ORDER & PATH -->
            <MudItem xs="12" md="6" lg="4">
                <MudPaper Class="pa-5 h-100" Elevation="2">
                    <MudText Typo="Typo.h6">🧭 Order & Path</MudText>
                    <MudDivider Class="my-3" />
                    <MudText>Order ID: <b>@(msg.OrderId ?? "—")</b></MudText>
                    <MudText>Update ID: <b>@msg.OrderUpdateId</b></MudText>
                    <MudDivider Class="my-2" />
                    <MudText>
                        Last Node: <b>@msg.LastNodeId</b>
                        <MudText Typo="Typo.caption" Inline="true">Seq: @msg.LastNodeSequenceId</MudText>
                    </MudText>
                    <MudText>Distance since last node: @msg.DistanceSinceLastNode:F1 m</MudText>
                    <MudDivider Class="my-3" />
                    @{
                        var nodeReleased = msg.NodeStates?.Count(n => n.Released) ?? 0;
                        var nodeTotal = msg.NodeStates?.Length ?? 0;
                        var edgeReleased = msg.EdgeStates?.Count(e => e.Released) ?? 0;
                        var edgeTotal = msg.EdgeStates?.Length ?? 0;
                    }
                    <div class="d-flex align-center flex-wrap gap-2">
                        <MudChip T="string" Color="Color.Info">Nodes: @nodeReleased / @nodeTotal</MudChip>
                        <MudChip T="string" Color="Color.Info">Edges: @edgeReleased / @edgeTotal</MudChip>
                        <MudChip T="string" Size="Size.Small" Color="@(msg.Driving ? Color.Success : Color.Default)">
                            @(msg.Driving ? "DRIVING" : "STOPPED")
                        </MudChip>
                        <MudChip T="string" Size="Size.Small" Color="@(msg.Paused ? Color.Warning : Color.Success)">
                            @(msg.Paused ? "PAUSED" : "ACTIVE")
                        </MudChip>
                    </div>
                </MudPaper>
            </MudItem>

            <!-- ERRORS + INFORMATION -->
            <MudItem xs="12" md="12" lg="6">
                <MudPaper Class="pa-5 h-100" Elevation="2">
                    <MudText Typo="Typo.h6">🚨 Errors & Information</MudText>
                    <MudDivider Class="my-3" />
                    <MudTable Items="@MessageRows"
                              Dense="true"
                              Hover="true"
                              Bordered="true"
                              Elevation="0"
                              Height="200px"
                              FixedHeader="true">
                        <ColGroup>
                            <col style="width: 35%" />
                            <col style="width: 20%" />
                            <col />
                        </ColGroup>
                        <HeaderContent>
                            <MudTh>Type</MudTh>
                            <MudTh>Level</MudTh>
                            <MudTh>Description</MudTh>
                        </HeaderContent>
                        <RowTemplate>
                            <MudTd>
                                <MudText Class="@(context.IsError ? "text-error" : "text-info")">
                                    <b>@context.Type</b>
                                </MudText>
                            </MudTd>
                            <MudTd>
                                <MudChip T="string" Size="Size.Small"
                                         Color="@(context.Level.Contains("ERROR", StringComparison.OrdinalIgnoreCase) ? Color.Error :
                                                  context.Level.Contains("WARN", StringComparison.OrdinalIgnoreCase) ? Color.Warning :
                                                  Color.Info)">
                                    @context.Level
                                </MudChip>
                            </MudTd>
                            <MudTd>
                                <MudText Typo="Typo.caption" Class="text-truncate" Title="@context.Description">
                                    @context.Description
                                </MudText>
                            </MudTd>
                        </RowTemplate>
                        <NoRecordsContent>
                            <MudText Typo="Typo.caption" Color="Color.Secondary" Class="pa-4 text-center">
                                No errors or information messages
                            </MudText>
                        </NoRecordsContent>
                    </MudTable>
                </MudPaper>
            </MudItem>

            <!-- ACTIONS -->
            <MudItem xs="12" md="6" lg="3">
                <MudPaper Class="pa-5 h-100" Elevation="2">
                    <MudText Typo="Typo.h6">⚙️ Actions</MudText>
                    <MudDivider Class="my-3" />
                    <MudTable Items="msg.ActionStates"
                              Dense="true"
                              Hover="true"
                              Bordered="true"
                              Elevation="0"
                              Height="180px"
                              FixedHeader="true">
                        <HeaderContent>
                            <MudTh>Action</MudTh>
                            <MudTh>Action ID</MudTh>
                            <MudTh class="text-right">Status</MudTh>
                        </HeaderContent>
                        <RowTemplate>
                            <MudTd><MudText Typo="Typo.body2" Class="text-truncate" Title="@context.ActionType">@context.ActionType</MudText></MudTd>
                            <MudTd><MudText Typo="Typo.caption">@context.ActionId</MudText></MudTd>
                            <MudTd Class="text-right">
                                <MudChip T="string" Size="Size.Small"
                                         Color="@(context.ActionStatus == "RUNNING" ? Color.Info :
                                                  context.ActionStatus == "FINISHED" ? Color.Success :
                                                  context.ActionStatus == "FAILED" ? Color.Error : Color.Default)">
                                    @context.ActionStatus
                                </MudChip>
                            </MudTd>
                        </RowTemplate>
                        <NoRecordsContent>
                            <MudText Typo="Typo.caption" Color="Color.Secondary" Class="pa-4 text-center">
                                No active actions
                            </MudText>
                        </NoRecordsContent>
                    </MudTable>
                </MudPaper>
            </MudItem>

            <!-- SAFETY -->
            <MudItem xs="12" md="6" lg="3">
                <MudPaper Class="pa-5 h-100" Elevation="2">
                    <MudText Typo="Typo.h6">🛑 Safety</MudText>
                    <MudDivider Class="my-3" />
                    <MudChip T="string" Size="Size.Large" Class="w-100 mb-2"
                             Color="@(msg.SafetyState.EStop == "NONE" ? Color.Success : Color.Error)">
                        E-STOP: @msg.SafetyState.EStop
                    </MudChip>
                    <MudChip T="string" Size="Size.Large" Class="w-100"
                             Color="@(msg.SafetyState.FieldViolation ? Color.Error : Color.Success)">
                        Field Violation: @(msg.SafetyState.FieldViolation ? "YES" : "NO")
                    </MudChip>
                </MudPaper>
            </MudItem>
        </MudGrid>
    }
</MudContainer>

@code {
    private StateMsg? CurrentState;
    private bool IsConnected => RobotStateClient.LatestStates.ContainsKey(RobotSerial);

    // Thay bằng serial number thật của robot bạn muốn theo dõi
    private readonly string RobotSerial = "T800-002";

    private List<MessageRow> MessageRows = new();

    protected override async Task OnInitializedAsync()
    {
        // Subscribe sự kiện nhận state
        RobotStateClient.OnStateReceived += OnRobotStateReceived;

        // Bắt đầu kết nối SignalR (nếu chưa)
        if (RobotStateClient.LatestStates.Count == 0)
        {
            await RobotStateClient.StartAsync();
        }

        // Đăng ký theo dõi robot cụ thể
        await RobotStateClient.SubscribeRobotAsync(RobotSerial);

        // Lấy state hiện tại nếu đã có
        CurrentState = RobotStateClient.GetLatestState(RobotSerial);
        UpdateMessageRows();
    }

    private void OnRobotStateReceived(string serialNumber, StateMsg state)
    {
        if (serialNumber != RobotSerial) return;

        InvokeAsync(() =>
        {
            CurrentState = state;
            UpdateMessageRows();
            StateHasChanged();
        });
    }

    private void UpdateMessageRows()
    {
        MessageRows.Clear();

        if (CurrentState?.Errors != null)
        {
            foreach (var err in CurrentState.Errors)
            {
                MessageRows.Add(new MessageRow(err.ErrorType ?? "-", err.ErrorLevel ?? "ERROR", err.ErrorDescription ?? "", true));
            }
        }

        if (CurrentState?.Information != null)
        {
            foreach (var info in CurrentState.Information)
            {
                MessageRows.Add(new MessageRow(info.InfoType ?? "-", info.InfoLevel ?? "INFO", info.InfoDescription ?? "", false));
            }
        }
    }

    public void Dispose()
    {
        RobotStateClient.OnStateReceived -= OnRobotStateReceived;
    }

    private record MessageRow(string Type, string Level, string Description, bool IsError);
}