RobotApp/RobotApp/Services/RobotExtensions.cs

using RobotApp.Interfaces;
using RobotApp.Services.Robot;
using RobotApp.Services.State;
using System.Diagnostics.CodeAnalysis;

namespace RobotApp.Services;

public static class RobotExtensions
{
    public static IServiceCollection AddRobot(this IServiceCollection services)
    {
        services.AddSingleton<RobotStateMachine>();
        services.AddSingleton<RobotConfiguration>();
        services.AddSingleton<RobotPathPlanner>();
        services.AddSingleton<RobotConnection>();

        services.AddInterfaceServiceSingleton<IBattery, RobotBattery>();
        services.AddInterfaceServiceSingleton<IDriver, RobotDriver>();
        services.AddInterfaceServiceSingleton<IError, RobotErrors>();
        services.AddInterfaceServiceSingleton<IInfomation, RobotInfomations>();
        services.AddInterfaceServiceSingleton<IInstantActions, RobotActionController>();
        services.AddInterfaceServiceSingleton<INavigation, RobotNavigation>();
        services.AddInterfaceServiceSingleton<IOrder, RobotOrderController>();

        services.AddHostedInterfaceServiceSingleton<IPeripheral, ISafety, RobotPeripheral>();
        services.AddHostedInterfaceServiceSingleton<ILocalization, RobotLocalization>();

        services.AddHostedServiceSingleton<RobotController>();
        services.AddHostedServiceSingleton<RobotVisualization>();
        return services;
    }

    public static IServiceCollection AddInterfaceServiceSingleton<TService, [DynamicallyAccessedMembers(DynamicallyAccessedMemberTypes.PublicConstructors)] TImplementation>(this IServiceCollection services) where TService : class where TImplementation : class, TService
    {
        services.AddSingleton<TImplementation>();
        services.AddSingleton<TService>(sp => sp.GetRequiredService<TImplementation>());
        return services;
    }

    public static IServiceCollection AddHostedServiceSingleton<[DynamicallyAccessedMembers(DynamicallyAccessedMemberTypes.PublicConstructors)] THostedService>(this IServiceCollection services) where THostedService : class, IHostedService
    {
        services.AddSingleton<THostedService>();
        services.AddHostedService(sp => sp.GetRequiredService<THostedService>());
        return services;
    }

    public static IServiceCollection AddHostedInterfaceServiceSingleton<TService, [DynamicallyAccessedMembers(DynamicallyAccessedMemberTypes.PublicConstructors)] THostedService>(this IServiceCollection services) where TService : class where THostedService : class, IHostedService, TService
    {
        services.AddSingleton<THostedService>();
        services.AddSingleton<TService>(sp => sp.GetRequiredService<THostedService>());
        services.AddHostedService(sp => sp.GetRequiredService<THostedService>());
        return services;
    }

    public static IServiceCollection AddHostedInterfaceServiceSingleton<TService1, TService2, [DynamicallyAccessedMembers(DynamicallyAccessedMemberTypes.PublicConstructors)] THostedService>(this IServiceCollection services) where TService1 : class where TService2 : class where THostedService : class, IHostedService, TService1, TService2
    {
        services.AddSingleton<THostedService>();
        services.AddSingleton<TService1>(sp => sp.GetRequiredService<THostedService>());
        services.AddSingleton<TService2>(sp => sp.GetRequiredService<THostedService>());
        services.AddHostedService(sp => sp.GetRequiredService<THostedService>());
        return services;
    }
}