@page "/robot-state"
@using RobotApp.VDA5050.State
@rendermode InteractiveWebAssemblyNoPrerender

@inject StateMsg RobotState

<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>
            <MudText Typo="Typo.subtitle2" Color="Color.Secondary">
                @RobotState.Version •
                @RobotState.Manufacturer
                @RobotState.SerialNumber
            </MudText>
        </div>
        @* @if (RobotState.Current != null)
        {
            <MudChip T="string" Size="Size.Large"
                     Color="@(RobotState.Current ? Color.Success : Color.Error)">
                @(RobotState.Current.IsOnline ? "ONLINE" : "OFFLINE")
            </MudChip>
        } *@
    </MudPaper>

    @if (RobotState == null)
    {
        <MudAlert Severity="Severity.Info" Variant="Variant.Outlined">
            Waiting for robot state (VDA5050)...
            <MudProgressLinear Indeterminate Class="mt-3" />
        </MudAlert>
    }
    else
    {
        var msg = RobotState;

        <!-- ===================================================== -->
        <!-- 📨 MESSAGE META (DEBUG / TRACE) -->
        <!-- ===================================================== -->
        <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">
                                DeviationRange: <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</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: @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" />

                    @{
                        var rows = new List<MessageRow>();

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

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

                        var sortedMessages = rows
                        .OrderBy(r => r.IsError ? 0 : 1)   // Errors trước
                        .ThenBy(r => r.Type)
                        .ToList();
                    }

                    <MudTable Items="@sortedMessages"
                              Dense="true"
                              Hover="true"
                              Bordered="true"
                              Elevation="0"
                              Height="180px"
                              Breakpoint="Breakpoint.Sm"
                              HorizontalScrollbar="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 DataLabel="Type">
                                <MudText Class="@(context.IsError ? "text-error" : "text-info")">
                                    <b>@context.Type</b>
                                </MudText>
                            </MudTd>

                            <MudTd DataLabel="Level">
                                <MudChip T="string"
                                         Size="Size.Small"
                                         Color="@(context.Level == "ERROR"
                                                                                 ? Color.Error
                                                                                 : context.Level == "WARNING"
                                                                                     ? Color.Warning
                                                                                     : Color.Info)">
                                @context.Level
                            </MudChip>
                        </MudTd>

                            <MudTd DataLabel="Description">
                                <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="160px"
                              Breakpoint="Breakpoint.Sm"
                              HorizontalScrollbar="true"
                              FixedHeader="true">

                        <ColGroup>
                            <col style="width: 40%" />
                            <col style="width: 35%" />
                            <col style="width: 25%" />
                        </ColGroup>

                        <HeaderContent>
                            <MudTh>Action</MudTh>
                            <MudTh>Action ID</MudTh>
                            <MudTh class="text-right">Status</MudTh>
                        </HeaderContent>

                        <RowTemplate>
                            <MudTd DataLabel="Action">
                                <MudText Typo="Typo.body2"
                                         Class="text-truncate"
                                         Title="@context.ActionType">
                                    @context.ActionType
                                </MudText>
                            </MudTd>

                            <MudTd DataLabel="Action ID">
                                <MudText Typo="Typo.caption">
                                    @context.ActionId
                                </MudText>
                            </MudTd>

                            <MudTd DataLabel="Status" Class="text-right">
                                <MudChip T="string"
                                         Size="Size.Small"
                                         Variant="Variant.Filled"
                                         Color="@(context.ActionStatus == "RUNNING"
                                                                                                                      ? Color.Info
                                                                                                                      : context.ActionStatus == "FINISHED"
                                                                                                                          ? Color.Success
                                                                                                                          : Color.Error)">
                                @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 async Task OnStateChanged()
        => await InvokeAsync(StateHasChanged);


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