RobotApp/RobotApp.Client/Services/UiEdge.cs

using RobotApp.VDA5050.InstantAction;
using RobotApp.VDA5050.Order;
using System.Text.Json;
using System.Text.Json.Serialization;
using System.Xml.Linq;

namespace RobotApp.Client.Services;

// ======================================================
// EDGE UI
// ======================================================
public class UiEdge
{
    public string EdgeId { get; set; } = "";
    public int SequenceId { get; set; }
    public bool Released { get; set; } = true;

    public string StartNodeId { get; set; } = "";
    public string EndNodeId { get; set; } = "";

    // ===== CURVE (EDITOR GENERATED) =====
    public double Radius { get; set; } = 0;
    public Quadrant Quadrant { get; set; }

    // ===== IMPORTED TRAJECTORY =====
    public bool HasTrajectory { get; set; } = false;
    public UiTrajectory? Trajectory { get; set; }

    // ===== UI STATE =====
    public bool Expanded { get; private set; } = false;

    public void MarkExpanded()
    {
        Expanded = true;
    }
}

public class UiTrajectory
{
    public int Degree { get; set; }
    public double[] KnotVector { get; set; } = Array.Empty<double>();
    public List<Point> ControlPoints { get; set; } = new();
}

public enum Quadrant
{
    I,
    II,
    III,
    IV
}

// ======================================================
// GEOMETRY MODELS
// ======================================================
public record Point(double X, double Y);

public record QuarterResult(
    Point EndPoint,
    object Trajectory
);

// ======================================================
// GEOMETRY HELPER (QUARTER CIRCLE)
// ======================================================
public static class QuarterGeometry
{
    private const double K = 0.5522847498307936;

    public static QuarterResult BuildQuarterTrajectory(
        Point A,
        double r,
        Quadrant q
    )
    {
        Point P1, P2, C;

        switch (q)
        {
            case Quadrant.I:
                P1 = new(A.X, A.Y + K * r);
                P2 = new(A.X + K * r, A.Y + r);
                C = new(A.X + r, A.Y + r);
                break;

            case Quadrant.II:
                P1 = new(A.X - K * r, A.Y);
                P2 = new(A.X - r, A.Y + K * r);
                C = new(A.X - r, A.Y + r);
                break;

            case Quadrant.III:
                P1 = new(A.X, A.Y - K * r);
                P2 = new(A.X - K * r, A.Y - r);
                C = new(A.X - r, A.Y - r);
                break;

            case Quadrant.IV:
                P1 = new(A.X + K * r, A.Y);
                P2 = new(A.X + r, A.Y - K * r);
                C = new(A.X + r, A.Y - r);
                break;

            default:
                throw new ArgumentOutOfRangeException(nameof(q));
        }

        return new QuarterResult(
            C,
            new
            {
                degree = 3,
                knotVector = new[] { 0, 0, 0, 0, 1, 1, 1, 1 },
                controlPoints = new[]
                {
                    new { x = A.X,  y = A.Y  },  // P0
                    new { x = P1.X, y = P1.Y },  // P1
                    new { x = P2.X, y = P2.Y },  // P2
                    new { x = C.X,  y = C.Y  }   // P3
                }
            }
        );
    }
}
// ======================================================
// ORDER MESSAGE
// ======================================================
public class OrderMessage
{
    public uint HeaderId { get; set; }
    public string Timestamp { get; set; } = DateTime.UtcNow.ToString("yyyy-MM-ddTHH:mm:ss.fffZ");
    public string Version { get; set; } = "2.1.0";
    public string Manufacturer { get; set; } = "PhenikaaX";
    public string SerialNumber { get; set; } = "T800-003";
    public string OrderId { get; set; } = "";
    public int OrderUpdateId { get; set; }
    public string? ZoneSetId { get; set; }

    public List<Node> Nodes { get; set; } = [];
    public List<Edge> Edges { get; set; } = [];

    public OrderMsg ToSchemaObject()
    {
        // ================= SORT NODES BY UI SEQUENCE =================
        var orderedNodes = Nodes
            .OrderBy(n => n.SequenceId)
            .ToList();

        // ================= BUILD NODE OBJECTS =================
        var nodeObjects = orderedNodes
            .Select((n, index) => new Node
            {
                NodeId = n.NodeId,
                SequenceId = index * 2,               // ✅ NODE = EVEN
                Released = n.Released,

                NodePosition = new NodePosition
                {
                    X = n.NodePosition.X,
                    Y = n.NodePosition.Y,
                    Theta = n.NodePosition.Theta,

                    AllowedDeviationXY = n.NodePosition.AllowedDeviationXY,
                    AllowedDeviationTheta = n.NodePosition.AllowedDeviationTheta,

                    MapId = string.IsNullOrWhiteSpace(n.NodePosition.MapId)
                        ? "MAP_01"
                        : n.NodePosition.MapId
                },

                Actions = n.Actions?
                    .Select(a => new VDA5050.InstantAction.Action
                    {
                        ActionId = a.ActionId,
                        ActionType = a.ActionType,
                        BlockingType = a.BlockingType,

                        ActionParameters = a.ActionParameters?
                            .Select(p => new ActionParameter
                            {
                                Key = p.Key,
                                Value = p.Value
                            })
                            .ToArray()
                            ?? []
                    })
                    .ToArray()
                    ?? []
            })
            .ToArray();

        // ================= BUILD EDGE OBJECTS =================
        Edge[] edgeObjects = Edges
            .Select((e, index) =>
            {
                int sequenceId = index * 2 + 1;        // ✅ EDGE = ODD

                // ---------- BASE ----------
                var baseEdge = new
                {
                    edgeId = e.EdgeId,
                    sequenceId,
                    released = true,
                    startNodeId = e.StartNodeId,
                    endNodeId = e.EndNodeId
                };

                // =================================================
                // 1️⃣ IMPORTED TRAJECTORY
                // =================================================
                if (e.Trajectory != null)
                {
                    return new Edge
                    {
                        EdgeId = baseEdge.edgeId,
                        SequenceId = baseEdge.sequenceId,
                        Released= baseEdge.released,
                        StartNodeId= baseEdge.startNodeId,
                        EndNodeId= baseEdge.endNodeId,

                        Trajectory = new Trajectory
                        {
                            Degree = e.Trajectory.Degree,
                            KnotVector = e.Trajectory.KnotVector,
                            ControlPoints = e.Trajectory.ControlPoints
                                .Select(p => new ControlPoint { X = p.X, Y = p.Y , Weight = 1})
                                .ToArray()
                        },

                        Actions = []
                    };
                }

                return new Edge
                {
                    EdgeId = baseEdge.edgeId,
                    SequenceId = baseEdge.sequenceId,
                    Released = baseEdge.released,
                    StartNodeId = baseEdge.startNodeId,
                    EndNodeId = baseEdge.endNodeId,

                    Actions = []
                };
            })
            .ToArray();

        // ================= FINAL SCHEMA OBJECT =================
        return new OrderMsg
        {
            HeaderId = (uint)HeaderId++,

            Timestamp = DateTime.UtcNow.ToString("yyyy-MM-ddTHH:mm:ss.fffZ"),

            Version = Version,
            Manufacturer = Manufacturer,
            SerialNumber = SerialNumber,

            OrderId = OrderId= Guid.NewGuid().ToString(),
            OrderUpdateId = OrderUpdateId,

            ZoneSetId = string.IsNullOrWhiteSpace(ZoneSetId)
                ? null
                : ZoneSetId,

            Nodes = nodeObjects,
            Edges = edgeObjects,
        };
    }

    public void Import(OrderMsg order)
    {
        HeaderId = order.HeaderId;
        Timestamp = order.Timestamp;
        Version = order.Version;
        Manufacturer = order.Manufacturer;
        SerialNumber = order.SerialNumber;
        OrderId = order.OrderId;
        ZoneSetId = order.ZoneSetId;
        OrderUpdateId = order.OrderUpdateId;
        Nodes = [.. order.Nodes];
        Edges = [.. order.Edges];
    }
}

// ======================================================
// UI ACTION PARAM
// ======================================================
public class UiActionParameter : ActionParameter
{
    [JsonIgnore]
    public string ValueString
    {
        get => Value?.ToString() ?? "";
        set => Value = value;
    }
}