using RobotNet.MapShares;
using RobotNet.MapShares.Dtos;
using RobotNet.MapShares.Enums;
using RobotNet.RobotManager.Services.Planner.AStar;
using RobotNet.RobotManager.Services.Planner.Space;
using RobotNet.RobotShares.Enums;
using RobotNet.Shares;

namespace RobotNet.RobotManager.Services.Planner.Fokrlift;

public class ForkliftPathPlanner : IPathPlanner
{
    private List<NodeDto> Nodes = [];
    private List<EdgeDto> Edges = [];
    private const double ReverseDirectionAngleDegree = 89;
    private const double RobotDirectionWithAngle = 90;
    private const double Ratio = 0.1;

    private readonly PathPlanningOptions Options = new()
    {
        LimitDistanceToEdge = 1,
        LimitDistanceToNode = 0.3,
        ResolutionSplit = 0.1,
    };

    public void SetData(NodeDto[] nodes, EdgeDto[] edges)
    {
        Nodes = [.. nodes];
        Edges = [.. edges];
    }

    public void SetOptions(PathPlanningOptions options)
    {
        Options.LimitDistanceToNode = options.LimitDistanceToNode;
        Options.LimitDistanceToEdge = options.LimitDistanceToEdge;
        Options.ResolutionSplit = options.ResolutionSplit;
    }

    private static bool TStructureExisted(List<TStructure> TStructures, NodeDto node1, NodeDto node2, NodeDto node3)
    {
        var TStructureExistedStep1 = TStructures.Where(ts => ts.Node1 == node1 || ts.Node2 == node1 || ts.Node3 == node1).ToList();
        if (TStructureExistedStep1.Count != 0)
        {
            var TStructureExistedStep2 = TStructureExistedStep1.Where(ts => ts.Node1 == node2 || ts.Node2 == node2 || ts.Node3 == node2).ToList();
            if (TStructureExistedStep2.Count != 0)
            {
                var TStructureExistedStep3 = TStructureExistedStep2.Where(ts => ts.Node1 == node3 || ts.Node2 == node3 || ts.Node3 == node3).ToList();
                if (TStructureExistedStep3.Count != 0) return true;
            }
        }
        return false;
    }

    private List<TStructure> GetTStructure()
    {
        List<TStructure> TStructures = [];
        foreach (var node in Nodes)
        {
            var inEdges = Edges.Where(edge => edge.StartNodeId == node.Id || edge.EndNodeId == node.Id).ToList();
            if (inEdges.Count < 2) continue;
            List<NodeDto> inNodes = [];
            foreach (var edge in inEdges)
            {
                var endNode = Nodes.FirstOrDefault(n => n.Id == (node.Id == edge.EndNodeId ? edge.StartNodeId : edge.EndNodeId));
                if (endNode is null) continue;
                inNodes.Add(endNode);
            }
            for (int i = 0; i < inNodes.Count - 1; i++)
            {
                for (int j = i + 1; j < inNodes.Count; j++)
                {
                    if (TStructureExisted(TStructures, node, inNodes[i], inNodes[j])) continue;
                    var edgeT = Edges.FirstOrDefault(e => (e.StartNodeId == inNodes[i].Id && e.EndNodeId == inNodes[j].Id) ||
                                                          (e.EndNodeId == inNodes[i].Id && e.StartNodeId == inNodes[j].Id));
                    var edge1 = inEdges.FirstOrDefault(edge => edge.StartNodeId == inNodes[i].Id || edge.EndNodeId == inNodes[i].Id);
                    var edge2 = inEdges.FirstOrDefault(edge => edge.StartNodeId == inNodes[j].Id || edge.EndNodeId == inNodes[j].Id);
                    if (edgeT is null || edge1 is null || edge2 is null) continue;
                    if (edgeT.TrajectoryDegree == TrajectoryDegree.One &&
                        edge1.TrajectoryDegree == TrajectoryDegree.One &&
                        edge2.TrajectoryDegree == TrajectoryDegree.One) continue;

                    TStructures.Add(new()
                    {
                        Node1 = node,
                        Node2 = inNodes[i],
                        Node3 = inNodes[j],
                        Edge12 = edge1,
                        Edge13 = edge2,
                        Edge23 = edgeT,
                    });
                }
            }
        }
        return TStructures;
    }

    public static RobotDirection[] GetRobotDirectionInPath(RobotDirection currentDirection, NodeDto[] nodeplanning, EdgeDto[] edgePlanning, double reverseDirectionAngle)
    {
        RobotDirection[] RobotDirectionInNode = new RobotDirection[nodeplanning.Length];
        if (nodeplanning.Length > 0) RobotDirectionInNode[0] = currentDirection;
        if (nodeplanning.Length > 2)
        {
            for (int i = 1; i < nodeplanning.Length - 1; i++)
            {
                NodeDto startNode = MapEditorHelper.GetNearByNode(nodeplanning[i], nodeplanning[i - 1], edgePlanning[i - 1], Ratio);
                NodeDto endNode = MapEditorHelper.GetNearByNode(nodeplanning[i], nodeplanning[i + 1], edgePlanning[i], Ratio); ;
                var angle = MapEditorHelper.GetAngle(nodeplanning[i], startNode, endNode);
                if (angle < reverseDirectionAngle) RobotDirectionInNode[i] = RobotDirectionInNode[i - 1] == RobotDirection.FORWARD ? RobotDirection.BACKWARD : RobotDirection.FORWARD;
                else RobotDirectionInNode[i] = RobotDirectionInNode[i - 1];
            }
        }
        if (nodeplanning.Length > 1) RobotDirectionInNode[^1] = RobotDirectionInNode[^2];
        return RobotDirectionInNode;
    }

    public static RobotDirection GetRobotDirection(NodeDto currentNode, NodeDto futureNode, EdgeDto edge, double robotTheta, double reverseDirectionAngle, bool inGoal)
    {
        NodeDto NearNode = MapEditorHelper.GetNearByNode(currentNode, futureNode, edge, Ratio);

        var RobotDirectionNearNode = new NodeDto()
        {
            X = currentNode.X + Math.Cos(robotTheta * Math.PI / 180),
            Y = currentNode.Y + Math.Sin(robotTheta * Math.PI / 180),
        };
        var angle = MapEditorHelper.GetAngle(currentNode, NearNode, RobotDirectionNearNode);
        if (angle > reverseDirectionAngle) return inGoal ? RobotDirection.FORWARD : RobotDirection.BACKWARD;
        else return inGoal ? RobotDirection.BACKWARD : RobotDirection.FORWARD;
    }

    private static double GetNodeAngle(NodeDto node, NodeDto lastNode, EdgeDto edge)
    {
        NodeDto NearNode = MapEditorHelper.GetNearByNode(node, lastNode, edge, Ratio);
        return Math.Atan2(node.Y - NearNode.Y, node.X - NearNode.X) * 180 / Math.PI;
    }

    private static (bool IsSuccess, NodeDto? intraNode, TStructure? tstructure) IsReverse(NodeDto currentNode, NodeDto olderNode, NodeDto? futureNode, EdgeDto olderedge, EdgeDto? futureedge, double startAngle, List<TStructure> tstructures)
    {
        var tstructures1 = tstructures.Where(t => t.Node1.Id == currentNode.Id || t.Node2.Id == currentNode.Id || t.Node3.Id == currentNode.Id).ToList();
        if (tstructures1 is null || tstructures1.Count < 1) return (false, null, null);
        var tstructures2 = tstructures1.Where(t => t.Node1.Id == olderNode.Id || t.Node2.Id == olderNode.Id || t.Node3.Id == olderNode.Id).ToList();
        if (tstructures2 is null || tstructures2.Count < 1) return (false, null, null);
        foreach (var ts in tstructures2)
        {
            var midleReverse = ts.IsDriectionReverse(currentNode, olderNode);
            var intraNode = ts.GetIntraNode(currentNode, olderNode);
            if (intraNode is null) continue;

            if (!ts.IsAccessDirection(olderNode, intraNode) || !ts.IsAccessDirection(intraNode, currentNode)) continue;

            var CurrentDirection = GetRobotDirection(olderNode, currentNode, olderedge, startAngle, ReverseDirectionAngleDegree, false);
            var intraEdge = ts.GetEdge(olderNode, intraNode);
            if (intraEdge is null) continue;
            var ReverseDirection = GetRobotDirection(olderNode, intraNode, intraEdge, startAngle, ReverseDirectionAngleDegree, false);
            bool firstReverse = ReverseDirection != CurrentDirection;

            bool endReverse = false;
            if (futureNode is not null && futureedge is not null)
            {
                startAngle = GetNodeAngle(currentNode, olderNode, olderedge);
                CurrentDirection = GetRobotDirection(currentNode, futureNode, futureedge, startAngle, ReverseDirectionAngleDegree, true);
                intraEdge = ts.GetEdge(currentNode, intraNode);
                if (intraEdge is null) continue;
                startAngle = GetNodeAngle(currentNode, intraNode, intraEdge);
                ReverseDirection = GetRobotDirection(currentNode, futureNode, futureedge, startAngle, ReverseDirectionAngleDegree, true);
                endReverse = ReverseDirection != CurrentDirection;
            }

            if (!midleReverse)
            {
                if ((!firstReverse && !endReverse) || (firstReverse && endReverse)) continue;
            }
            else
            {
                if ((firstReverse && !endReverse) || (!firstReverse && endReverse)) continue;
            }
            return (true, intraNode, ts);
        }
        return (false, null, null);
    }

    private List<NodeDto> GetIntermediateNode(NodeDto startNode, NodeDto endNode)
    {
        var edge1s = Edges.Where(e => e.StartNodeId == startNode.Id || e.EndNodeId == startNode.Id).ToList();
        var edge2s = Edges.Where(e => e.StartNodeId == endNode.Id || e.EndNodeId == endNode.Id).ToList();
        if (edge1s is null || edge2s is null || edge1s.Count < 2 || edge2s.Count < 2) return [];
        List<NodeDto> node1 = [];
        List<NodeDto> IntermediateNode = [];
        foreach (var edge1 in edge1s)
        {
            if (edge1.TrajectoryDegree != TrajectoryDegree.One) continue;
            Guid interNodeId = Guid.Empty;
            if (edge1.StartNodeId == startNode.Id && (edge1.DirectionAllowed == DirectionAllowed.Both || edge1.DirectionAllowed == DirectionAllowed.Forward)) interNodeId = edge1.EndNodeId;
            else if (edge1.DirectionAllowed == DirectionAllowed.Both || edge1.DirectionAllowed == DirectionAllowed.Forward) interNodeId = edge1.StartNodeId;
            if (interNodeId == Guid.Empty || interNodeId == endNode.Id) continue;
            var interNode = Nodes.FirstOrDefault(n => n.Id == interNodeId);
            if (interNode is null) continue;
            //(double distance, double x, double y) = PathPlanning.DistanceToRangeSegment(interNode.X, interNode.Y, startNode.X, startNode.Y, endNode.X, endNode.Y);
            //if (distance < 0.3 && x != startNode.X && x != endNode.X && y != startNode.Y && y != endNode.Y)
            //{
            //    node1.Add(interNode);
            //}
            node1.Add(interNode);
        }
        if (node1.Count == 0) return [];
        foreach (var edge2 in edge2s)
        {
            if (edge2.TrajectoryDegree != TrajectoryDegree.One) continue;
            Guid interNodeId = Guid.Empty;
            if (edge2.StartNodeId == endNode.Id && (edge2.DirectionAllowed == DirectionAllowed.Both || edge2.DirectionAllowed == DirectionAllowed.Forward)) interNodeId = edge2.EndNodeId;
            else if (edge2.DirectionAllowed == DirectionAllowed.Both || edge2.DirectionAllowed == DirectionAllowed.Forward) interNodeId = edge2.StartNodeId;
            if (interNodeId == Guid.Empty || interNodeId == startNode.Id) continue;
            var interNode = Nodes.FirstOrDefault(n => n.Id == interNodeId);
            if (interNode is null) continue;
            //(double distance, double x, double y) = PathPlanning.DistanceToRangeSegment(interNode.X, interNode.Y, startNode.X, startNode.Y, endNode.X, endNode.Y);
            //if (distance < 0.3 && x != startNode.X && x != endNode.X && y != startNode.Y && y != endNode.Y)
            //{
            //    if (node1.Any(n => n.Id == interNode.Id) && !IntermediateNode.Any(n => n.Id == interNode.Id) && interNode.Id != startNode.Id)
            //        IntermediateNode.Add(interNode);
            //}
            if (node1.Any(n => n.Id == interNode.Id) && !IntermediateNode.Any(n => n.Id == interNode.Id) && interNode.Id != startNode.Id)
                IntermediateNode.Add(interNode);
        }
        return IntermediateNode;
    }

    private EdgeDto[] GetEdgesPlanning(NodeDto[] nodes)
    {
        var EdgesPlanning = new List<EdgeDto>();
        for (int i = 0; i < nodes.Length - 1; i++)
        {
            var edge = Edges.FirstOrDefault(e => e.StartNodeId == nodes[i].Id && e.EndNodeId == nodes[i + 1].Id ||
                                                  e.EndNodeId == nodes[i].Id && e.StartNodeId == nodes[i + 1].Id);
            if (edge is null)
            {
                if (i != 0) return [];
                EdgesPlanning.Add(new EdgeDto()
                {
                    Id = Guid.NewGuid(),
                    StartNodeId = nodes[i].Id,
                    EndNodeId = nodes[i + 1].Id,
                    DirectionAllowed = DirectionAllowed.Both,
                    TrajectoryDegree = TrajectoryDegree.One,
                });
                continue;
            }
            bool isReverse = nodes[i].Id != edge.StartNodeId && edge.TrajectoryDegree == TrajectoryDegree.Three; ;
            EdgesPlanning.Add(new()
            {
                Id = edge.Id,
                StartNodeId = nodes[i].Id,
                EndNodeId = nodes[i + 1].Id,
                DirectionAllowed = edge.DirectionAllowed,
                TrajectoryDegree = edge.TrajectoryDegree,
                ControlPoint1X = isReverse ? edge.ControlPoint2X : edge.ControlPoint1X,
                ControlPoint1Y = isReverse ? edge.ControlPoint2Y : edge.ControlPoint1Y,
                ControlPoint2X = isReverse ? edge.ControlPoint1X : edge.ControlPoint2X,
                ControlPoint2Y = isReverse ? edge.ControlPoint1Y : edge.ControlPoint2Y
            });
        }
        return [.. EdgesPlanning];
    }

    private (NodeDto[] NodesFilter, EdgeDto[] EdgesFilter) FilterPathPlanning(NodeDto[] nodes, EdgeDto[] edges)
    {
        if (nodes.Length <= 1 || edges.Length < 1 || nodes.Length - 1 != edges.Length) return ([], []);
        List<NodeDto> nodeFilter = [nodes[0]];
        for (int i = 1; i < nodes.Length - 1; i++)
        {
            var IntermediateNode = GetIntermediateNode(nodes[i - 1], nodes[i]);
            if (IntermediateNode is null || IntermediateNode.Count == 0)
            {
                nodeFilter.Add(nodes[i]);
                continue;
            }
            if (IntermediateNode.Any(n => n.Id == nodes[i + 1].Id))
            {
                nodeFilter.Add(nodes[i + 1]);
                i++;
            }
            else nodeFilter.Add(nodes[i]);
        }
        nodeFilter.Add(nodes[^1]);
        var edgeFilter = GetEdgesPlanning([.. nodeFilter]);
        if (nodeFilter.Count - 1 != edgeFilter.Length) return ([], []);
        return ([.. nodeFilter], [.. edgeFilter]);
    }

    private double GetLength(EdgeDto[] edges)
    {
        if (edges.Length == 0) return 999;
        double distance = 0;
        for (int i = 0; i < edges.Length; i++)
        {
            var edge = edges.FirstOrDefault(e => e.Id == edges[i].Id);
            if (edge is null) return 999;
            var startNode = Nodes.FirstOrDefault(n => n.Id == edge.StartNodeId);
            var endNode = Nodes.FirstOrDefault(n => n.Id == edge.EndNodeId);
            if (startNode is null || endNode is null) return 999;
            distance += MapEditorHelper.GetEdgeLength(new()
            {
                X1 = startNode.X,
                X2 = endNode.X,
                Y1 = startNode.Y,
                Y2 = endNode.Y,
                TrajectoryDegree = edge.TrajectoryDegree,
                ControlPoint1X = edge.ControlPoint1X,
                ControlPoint1Y = edge.ControlPoint1Y,
                ControlPoint2X = edge.ControlPoint2X,
                ControlPoint2Y = edge.ControlPoint2Y,
            });
        }
        return distance;
    }

    private static NodeDto[] CalculatorDirection(NodeDto[] nodes, EdgeDto[] edges, RobotDirection currentDirection)
    {
        var FinalDirection = GetRobotDirectionInPath(currentDirection, nodes, edges, ReverseDirectionAngleDegree);
        NodeDto[] returnNodes = [.. nodes];
        for (var i = 0; i < returnNodes.Length; i++)
        {
            returnNodes[i].Direction = MapCompute.GetNodeDirection(FinalDirection[i]);
        }
        return returnNodes;
    }

    public MessageResult<(NodeDto[] Nodes, EdgeDto[] Edges)> PathPlanning(double x, double y, double theta, Guid goalId, CancellationToken? cancellationToken = null)
    {
        var goal = Nodes.FirstOrDefault(n => n.Id == goalId);
        if (goal is null) return new(false, $"Đích đến {goalId} không tồn tại trong map");

        var AStarPathPlanner = new AStarPathPlanner(Nodes, Edges);
        var Path = AStarPathPlanner.Planning(x,
                                              y,
                                              new NodeDto() { Id = goal.Id, Name = goal.Name, X = goal.X, Y = goal.Y },
                                              Options.LimitDistanceToEdge,
                                              Options.LimitDistanceToNode,
                                              cancellationToken);
        if (!Path.IsSuccess) return new(false, Path.Message);
        if (Path.Data is null || Path.Data.Count < 1) return new(false, $"Đường đi đến {goal.Name} - {goal.Id} không tồn tại từ [{x}, {y}, {theta}]");
        if (Path.Data.Count == 1) return new(true, "Robot đang đứng ở điểm đích") { Data = ([], []) };

        var edgeplannings = GetEdgesPlanning([.. Path.Data]);

        RobotDirection CurrenDirection = GetRobotDirection(Path.Data[0], Path.Data[1], edgeplannings[0], theta, RobotDirectionWithAngle, false);

        return new(true)
        {
            Data = ([.. CalculatorDirection([.. Path.Data], [.. edgeplannings], CurrenDirection)], [.. edgeplannings])
        };
    }

    private MessageResult<(NodeDto[] Nodes, EdgeDto[] Edges)> CheckPathWithFinalDirection(NodeDto[] nodes, EdgeDto[] edges, double currentAngle, RobotDirection goalDirection = RobotDirection.NONE)
    {
        if ((nodes[^1].Direction == MapCompute.GetNodeDirection(goalDirection) && GetLength([.. edges]) < 10) || goalDirection == RobotDirection.NONE)
            return new(true) { Data = FilterPathPlanning([.. nodes], [.. edges]) };

        var edgeplannings = edges.ToList();
        var nodeplannings = nodes.ToList();

        var TStructures = GetTStructure();

        Guid LastReverseDirectionId = Guid.Empty;
        NodeDto LastNodeReverseDirection = new();
        for (int i = 1; i < nodeplannings.Count; i++)
        {
            if (nodeplannings[i].Direction == Direction.FORWARD) continue;
            NodeDto? futureNode = null;
            EdgeDto? futureEdge = null;
            if (i < nodeplannings.Count - 1)
            {
                futureNode = nodeplannings[i + 1];
                futureEdge = edgeplannings[i];
            }
            double startAngle = currentAngle;
            if (i >= 2) startAngle = GetNodeAngle(nodeplannings[i - 1], nodeplannings[i - 2], edgeplannings[i - 2]);
            (var IsSuccess, var intraNode, var tstructure) = IsReverse(nodeplannings[i], nodeplannings[i - 1], futureNode, edgeplannings[i - 1], futureEdge, startAngle, TStructures);
            if (!IsSuccess || intraNode is null || tstructure is null) continue;
            var edge1 = Edges.FirstOrDefault(e => (e.StartNodeId == nodeplannings[i - 1].Id && e.EndNodeId == intraNode.Id) ||
                                                   e.EndNodeId == nodeplannings[i - 1].Id && e.StartNodeId == intraNode.Id);
            var edge2 = Edges.FirstOrDefault(e => (e.StartNodeId == nodeplannings[i].Id && e.EndNodeId == intraNode.Id) ||
                                                   e.EndNodeId == nodeplannings[i].Id && e.StartNodeId == intraNode.Id);
            if (edge1 is null || edge2 is null) continue;
            edgeplannings.RemoveAt(i - 1);
            edgeplannings.Insert(i - 1, new()
            {
                Id = edge1.Id,
                StartNodeId = nodeplannings[i - 1].Id,
                EndNodeId = intraNode.Id,
                TrajectoryDegree = edge1.TrajectoryDegree,
                DirectionAllowed = edge1.DirectionAllowed,
                ControlPoint1X = edge1.ControlPoint1X,
                ControlPoint1Y = edge1.ControlPoint1Y,
                ControlPoint2X = edge1.ControlPoint2X,
                ControlPoint2Y = edge1.ControlPoint2Y
            });
            edgeplannings.Insert(i, new()
            {
                Id = edge2.Id,
                StartNodeId = intraNode.Id,
                EndNodeId = nodeplannings[i].Id,
                TrajectoryDegree = edge2.TrajectoryDegree,
                DirectionAllowed = edge2.DirectionAllowed,
                ControlPoint1X = edge2.ControlPoint1X,
                ControlPoint1Y = edge2.ControlPoint1Y,
                ControlPoint2X = edge2.ControlPoint2X,
                ControlPoint2Y = edge2.ControlPoint2Y
            });
            nodeplannings.Insert(i, intraNode);
            var directionInPath = GetRobotDirectionInPath(MapCompute.GetRobotDirection(nodeplannings[0].Direction), [.. nodeplannings], [.. edgeplannings], ReverseDirectionAngleDegree);
            foreach (var node in nodeplannings)
            {
                node.Direction = MapCompute.GetNodeDirection(directionInPath[nodeplannings.IndexOf(node)]);
            }
            LastReverseDirectionId = tstructure.Id;
            LastNodeReverseDirection = nodeplannings[i + 1];
            i++;
        }

        if (nodeplannings[^1].Direction == MapCompute.GetNodeDirection(goalDirection))
            return new(true) { Data = FilterPathPlanning([.. nodeplannings], [.. edgeplannings]) };

        for (int i = nodeplannings.Count - 1; i > 0; i--)
        {
            NodeDto? futureNode = null;
            EdgeDto? futureEdge = null;
            if (i < nodeplannings.Count - 1)
            {
                futureNode = nodeplannings[i + 1];
                futureEdge = edgeplannings[i];
            }
            double startAngle = currentAngle;
            if (i >= 2) startAngle = GetNodeAngle(nodeplannings[i - 1], nodeplannings[i - 2], edgeplannings[i - 2]);
            (var IsSuccess, var intraNode, var tstructure) = IsReverse(nodeplannings[i], nodeplannings[i - 1], futureNode, edgeplannings[i - 1], futureEdge, startAngle, TStructures);
            if (!IsSuccess || intraNode is null || tstructure is null) continue;

            if (nodeplannings[i - 1].Id == LastNodeReverseDirection.Id)
            {
                var edge = Edges.FirstOrDefault(e => (e.StartNodeId == nodeplannings[i - 2].Id && e.EndNodeId == nodeplannings[i].Id) ||
                                                        (e.StartNodeId == nodeplannings[i].Id && e.EndNodeId == nodeplannings[i - 2].Id));
                if (edge is null) continue;
                edgeplannings.Insert(i - 2, new()
                {
                    Id = edge.Id,
                    StartNodeId = nodeplannings[i - 2].Id,
                    EndNodeId = nodeplannings[i].Id,
                    TrajectoryDegree = edge.TrajectoryDegree,
                    DirectionAllowed = edge.DirectionAllowed,
                    ControlPoint1X = edge.ControlPoint1X,
                    ControlPoint1Y = edge.ControlPoint1Y,
                    ControlPoint2X = edge.ControlPoint2X,
                    ControlPoint2Y = edge.ControlPoint2Y
                });
                edgeplannings.RemoveAt(i);
                edgeplannings.RemoveAt(i - 1);
                nodeplannings.RemoveAt(i - 1);
            }
            else if (tstructure.Id != LastReverseDirectionId || i < 2)
            {
                var edge1 = Edges.FirstOrDefault(e => (e.StartNodeId == nodeplannings[i - 1].Id && e.EndNodeId == intraNode.Id) ||
                                                   e.EndNodeId == nodeplannings[i - 1].Id && e.StartNodeId == intraNode.Id);
                var edge2 = Edges.FirstOrDefault(e => (e.StartNodeId == nodeplannings[i].Id && e.EndNodeId == intraNode.Id) ||
                                                       e.EndNodeId == nodeplannings[i].Id && e.StartNodeId == intraNode.Id);
                if (edge1 is null || edge2 is null) continue;
                edgeplannings.RemoveAt(i - 1);
                edgeplannings.Insert(i - 1, new()
                {
                    Id = edge1.Id,
                    StartNodeId = nodeplannings[i - 1].Id,
                    EndNodeId = intraNode.Id,
                    TrajectoryDegree = edge1.TrajectoryDegree,
                    DirectionAllowed = edge1.DirectionAllowed,
                    ControlPoint1X = edge1.ControlPoint1X,
                    ControlPoint1Y = edge1.ControlPoint1Y,
                    ControlPoint2X = edge1.ControlPoint2X,
                    ControlPoint2Y = edge1.ControlPoint2Y,
                });
                edgeplannings.Insert(i, new()
                {
                    Id = edge2.Id,
                    StartNodeId = intraNode.Id,
                    EndNodeId = nodeplannings[i].Id,
                    TrajectoryDegree = edge2.TrajectoryDegree,
                    DirectionAllowed = edge2.DirectionAllowed,
                    ControlPoint1X = edge2.ControlPoint1X,
                    ControlPoint1Y = edge2.ControlPoint1Y,
                    ControlPoint2X = edge2.ControlPoint2X,
                    ControlPoint2Y = edge2.ControlPoint2Y,
                });
                nodeplannings.Insert(i, intraNode);
            }
            else
            {
                var edge = Edges.FirstOrDefault(e => (e.StartNodeId == nodeplannings[i - 2].Id && e.EndNodeId == nodeplannings[i].Id) ||
                                                        (e.StartNodeId == nodeplannings[i].Id && e.EndNodeId == nodeplannings[i - 2].Id));
                if (edge is null) continue;
                edgeplannings.Insert(i - 2, new()
                {
                    Id = edge.Id,
                    StartNodeId = nodeplannings[i - 2].Id,
                    EndNodeId = nodeplannings[i].Id,
                    TrajectoryDegree = edge.TrajectoryDegree,
                    DirectionAllowed = edge.DirectionAllowed,
                    ControlPoint1X = edge.ControlPoint1X,
                    ControlPoint1Y = edge.ControlPoint1Y,
                    ControlPoint2X = edge.ControlPoint2X,
                    ControlPoint2Y = edge.ControlPoint2Y,
                });
                edgeplannings.RemoveAt(i);
                edgeplannings.RemoveAt(i - 1);
                nodeplannings.RemoveAt(i - 1);
            }
            return new(true) { Data = FilterPathPlanning([.. CalculatorDirection([.. nodeplannings], [.. edgeplannings], MapCompute.GetRobotDirection(nodeplannings[0].Direction))], [.. edgeplannings]) };
        }
        return new(false, $"Đường đi đến đích không thỏa mãn điều kiện");
    }

    public MessageResult<(NodeDto[] Nodes, EdgeDto[] Edges)> PathPlanningWithAngle(double x, double y, double theta, Guid goalId, CancellationToken? cancellationToken = null)
    {
        var goal = Nodes.FirstOrDefault(n => n.Id == goalId);
        if (goal is null) return new(false, $"Đích đến {goalId} không tồn tại trong map");

        var basicPath = PathPlanning(x, y, theta, goalId, cancellationToken);
        if (!basicPath.IsSuccess) return basicPath;
        if (basicPath.Data.Nodes.Length < 2) return new(true, "Robot đang đứng ở điểm đích") { Data = ([], []) };

        RobotDirection goalDirection = GetRobotDirection(basicPath.Data.Nodes[^1], basicPath.Data.Nodes[^2], basicPath.Data.Edges[^1], goal.Theta, RobotDirectionWithAngle, true);

        return CheckPathWithFinalDirection(basicPath.Data.Nodes, basicPath.Data.Edges, theta, goalDirection);
    }

    public MessageResult<(NodeDto[] Nodes, EdgeDto[] Edges)> PathPlanningWithStartDirection(double x, double y, double theta, Guid goalId, RobotDirection startDiretion = RobotDirection.NONE, CancellationToken? cancellationToken = null)
    {
        throw new NotImplementedException();
    }

    public MessageResult<(NodeDto[] Nodes, EdgeDto[] Edges)> PathPlanningWithFinalDirection(double x, double y, double theta, Guid goalId, RobotDirection goalDirection = RobotDirection.NONE, CancellationToken? cancellationToken = null)
    {
        var basicPath = PathPlanning(x, y, theta, goalId, cancellationToken);
        if (!basicPath.IsSuccess) return basicPath;
        if (basicPath.Data.Nodes.Length < 2) return new(true, "Robot đang đứng ở điểm đích") { Data = ([], []) };

        return CheckPathWithFinalDirection(basicPath.Data.Nodes, basicPath.Data.Edges, theta, goalDirection);
    }

    public MessageResult<(NodeDto[] Nodes, EdgeDto[] Edges)> PathPlanning(Guid startNodeId, double theta, Guid goalId, CancellationToken? cancellationToken = null)
    {
        var goal = Nodes.FirstOrDefault(n => n.Id == goalId);
        if (goal is null) return new(false, $"Đích đến {goalId} không tồn tại trong map");

        var startNode = Nodes.FirstOrDefault(n => n.Id == startNodeId);
        if (startNode is null) return new(false, $"Điểm bắt đầu {startNodeId} không tồn tại trong map");

        var AStarPathPlanner = new AStarPathPlanner(Nodes, Edges);
        var Path = AStarPathPlanner.Planning(startNode, goal, cancellationToken);
        if (!Path.IsSuccess) return new(false, Path.Message);
        if (Path.Data is null || Path.Data.Length < 1) return new(false, $"Đường đi đến {goal.Name} - {goal.Id} không tồn tại từ [{startNode.Name} - {startNode.Id}]");
        if (Path.Data.Length == 1) return new(true, "Robot đang đứng ở điểm đích") { Data = ([], []) };

        var edgeplannings = GetEdgesPlanning([.. Path.Data]);

        RobotDirection CurrenDirection = GetRobotDirection(Path.Data[0], Path.Data[1], edgeplannings[0], theta, RobotDirectionWithAngle, false);

        return new(true)
        {
            Data = ([.. CalculatorDirection([.. Path.Data], [.. edgeplannings], CurrenDirection)], [.. edgeplannings])
        };
    }

    public MessageResult<(NodeDto[] Nodes, EdgeDto[] Edges)> PathPlanningWithAngle(Guid startNodeId, double theta, Guid goalId, CancellationToken? cancellationToken = null)
    {
        var goal = Nodes.FirstOrDefault(n => n.Id == goalId);
        if (goal is null) return new(false, $"Đích đến {goalId} không tồn tại trong map");

        var basicPath = PathPlanning(startNodeId, theta, goalId, cancellationToken);
        if (!basicPath.IsSuccess) return basicPath;
        if (basicPath.Data.Nodes.Length < 2) return new(true, "Robot đang đứng ở điểm đích") { Data = ([], []) };

        RobotDirection goalDirection = GetRobotDirection(basicPath.Data.Nodes[^1], basicPath.Data.Nodes[^2], basicPath.Data.Edges[^1], goal.Theta, RobotDirectionWithAngle, true);

        return CheckPathWithFinalDirection(basicPath.Data.Nodes, basicPath.Data.Edges, theta, goalDirection);
    }

    public MessageResult<(NodeDto[] Nodes, EdgeDto[] Edges)> PathPlanningWithStartDirection(Guid startNodeId, double theta, Guid goalId, RobotDirection startDiretion = RobotDirection.NONE, CancellationToken? cancellationToken = null)
    {
        throw new NotImplementedException();
    }

    public MessageResult<(NodeDto[] Nodes, EdgeDto[] Edges)> PathPlanningWithFinalDirection(Guid startNodeId, double theta, Guid goalId, RobotDirection goalDirection = RobotDirection.NONE, CancellationToken? cancellationToken = null)
    {
        var basicPath = PathPlanning(startNodeId, theta, goalId, cancellationToken);
        if (!basicPath.IsSuccess) return basicPath;
        if (basicPath.Data.Nodes.Length < 2) return new(true, "Robot đang đứng ở điểm đích") { Data = ([], []) };

        return CheckPathWithFinalDirection(basicPath.Data.Nodes, basicPath.Data.Edges, theta, goalDirection);
    }
}