using Microsoft.AspNetCore.SignalR.Client;
using RobotNet.Clients;
using RobotNet.RobotShares.Models;
using RobotNet.Script;
using RobotNet.Script.Expressions;
using RobotNet.ScriptManager.Helpers;
using RobotNet.Shares;

namespace RobotNet.ScriptManager.Clients;

public class RobotManagerHubClient(string RobotId, string hubUrl, Func<Task<string?>> accessTokenProvider) : HubClient(new Uri(hubUrl), accessTokenProvider), IRobot
{
    private async Task<RobotStateModel> GetRobotStateModel()
    {
        var result = await Connection.InvokeAsync<MessageResult<RobotStateModel>>(nameof(GetState), RobotId);
        if (!result.IsSuccess)
        {
            throw new InvalidOperationException($"Failed to get robot state: {result.Message}");
        }
        else
        {
            if (result.Data is null)
            {
                throw new InvalidOperationException("Robot state data is null.");
            }
            return result.Data;
        }
    }

    private static string RobotErrorToString(IEnumerable<RobotNet.RobotShares.VDA5050.State.Error> errors)
    {
        var sb = new System.Text.StringBuilder();
        foreach (var error in errors)
        {
            if (sb.Length > 0)
            {
                sb.Append(", ");
            }
            sb.Append($"{error.ErrorLevel}: {error.ErrorType} {error.ErrorDescription} - {error.ErrorHint}");
            foreach (var reference in error.ErrorReferences ?? [])
            {
                sb.Append($" [{reference.ReferenceKey}: {reference.ReferenceValue}]");
            }
        }
        return sb.ToString();
    }

    public async Task<RobotState> GetState() => VDA5050ScriptHelper.ConvertToRobotState(await GetRobotStateModel());

    public async Task<RobotLoad[]> GetLoads()
    {
        var stateModel = await GetRobotStateModel();
        if (stateModel.Loads is null || stateModel.Loads.Length == 0)
        {
            return [];
        }
        return [.. stateModel.Loads.Select(load => new RobotLoad(load.LoadId, load.LoadType, load.LoadPosition, load.Weight))];
    }

    public async Task<RobotResult> Execute(RobotAction action, CancellationToken cancellationToken)
    {
        var state = await GetState();
        if (!state.IsReady)
        {
            throw new InvalidOperationException($"Robot '{RobotId}' không sẵn sàng để thực hiện action [{action.ActionType}]!");
        }

        var model = VDA5050ScriptHelper.ConvertToRobotInstantActionModel(RobotId, action);
        var result = await Connection.InvokeAsync<MessageResult<string>>("InstantAction", model, cancellationToken);

        if (!result.IsSuccess)
        {
            throw new InvalidOperationException($"Failed to perform instant action: {result.Message}");
        }

        if (string.IsNullOrEmpty(result.Data))
        {
            throw new InvalidOperationException("Instant action ID is empty.");
        }

        bool isRunning = true;
        bool isSuccess = false;
        string message = "";
        while (isRunning)
        {
            if (cancellationToken.IsCancellationRequested)
            {
                isRunning = false;
                message = $"Action [{action.ActionType} is canceled";
                break;
            }

            var stateModel = await GetRobotStateModel();
            var stateAction = stateModel.ActionStates.FirstOrDefault(a => a.ActionId == result.Data);
            if (stateAction is null)
            {
                isRunning = false;
                message = $"Action [{action.ActionType}] not found in robot state.";
            }
            else if (stateAction.IsError)
            {
                isRunning = false;
                message = $"Action [{action.ActionType}] failed with result: {stateAction.Action?.ResultDescription}, Error: {RobotErrorToString(stateModel.Errors)}";
            }
            else if (stateAction.IsProcessing)
            {
                if (cancellationToken.IsCancellationRequested)
                {
                    isRunning = false;
                    message = $"Action [{action.ActionType}] wait cancel";
                }
                else
                {
                    try
                    {
                        await Task.Delay(50, cancellationToken);
                    }
                    catch (TaskCanceledException)
                    {
                        isRunning = false;
                        message = $"Action [{action.ActionType}] wait cancel";
                    }
                }
            }
            else if (stateAction.IsCompleted)
            {
                isRunning = false;
                isSuccess = true;
            }
            else
            {
                isRunning = false;
                message = $"Action [{action.ActionType}] is in an unexpected state";
            }
        }
        return new(isSuccess, message);
    }

    public async Task AbortMovement()
    {
        var result = await Connection.InvokeAsync<MessageResult>("CancelOrder", RobotId);
        if (!result.IsSuccess)
        {
            throw new InvalidOperationException($"Failed to cancel robot operation: {result.Message}");
        }
    }

    private async Task<RobotResult> WaitOrder(string premessage, CancellationToken cancellationToken)
    {
        bool isRunning = true;
        bool isSuccess = false;
        string message = "";
        while (isRunning)
        {
            if (cancellationToken.IsCancellationRequested)
            {
                message = $"{premessage} is canceled";
                break;
            }
            var stateModel = await GetRobotStateModel();
            if (stateModel.OrderState.IsError)
            {
                isRunning = false;
                message = $"{premessage} failed with error: {string.Join("\n\t", stateModel.OrderState.Errors)} \n Robot Error: {RobotErrorToString(stateModel.Errors)}";
            }
            else if (stateModel.OrderState.IsProcessing)
            {
                if (cancellationToken.IsCancellationRequested)
                {
                    isRunning = false;
                    message = $"{premessage} is canceled";
                }
                else
                {
                    try
                    {
                        await Task.Delay(50, cancellationToken);
                    }
                    catch (TaskCanceledException)
                    {
                        isRunning = false;
                        message = $"{premessage} is canceled";
                    }
                }
            }
            else if (stateModel.OrderState.IsCompleted)
            {
                isRunning = false;
                isSuccess = true;
            }
            else
            {
                isRunning = false;
                message = $"{premessage} is in an unexpected state";
            }
        }
        return new(isSuccess, message);
    }

    private async Task<RobotResult> MoveToNode(string nodeName, IDictionary<string, IEnumerable<RobotAction>> actions, double? lastAngle, CancellationToken cancellationToken)
    {
        var state = await GetState();
        if (!state.IsReady)
        {
            throw new InvalidOperationException($"Robot '{RobotId}' không sẵn sàng để thực hiện di chuyển đến [{nodeName}]!");
        }

        var model = VDA5050ScriptHelper.ConvertToRobotMoveToNodeModel(RobotId, nodeName, actions, lastAngle);

        var result = await Connection.InvokeAsync<MessageResult>("MoveToNode", model, cancellationToken);

        if (!result.IsSuccess)
        {
            throw new InvalidOperationException($"Failed to move to node: {result.Message}");
        }

        return await WaitOrder($"Robot move to node [{nodeName}]", cancellationToken);
    }

    public Task<RobotResult> Move(string nodeName, IDictionary<string, IEnumerable<RobotAction>> actions, double lastAngle, CancellationToken cancellationToken)
        => MoveToNode(nodeName, actions, lastAngle, cancellationToken);

    public Task<RobotResult> Move(string nodeName, IDictionary<string, IEnumerable<RobotAction>> actions, CancellationToken cancellationToken)
        => MoveToNode(nodeName, actions, null, cancellationToken);

    public Task<RobotResult> Move(string nodeName, IEnumerable<RobotAction> lastActions, double lastAngle, CancellationToken cancellationToken)
        => MoveToNode(nodeName, new Dictionary<string, IEnumerable<RobotAction>> { { nodeName, lastActions } }, lastAngle, cancellationToken);

    public Task<RobotResult> Move(string nodeName, IEnumerable<RobotAction> lastActions, CancellationToken cancellationToken)
        => MoveToNode(nodeName, new Dictionary<string, IEnumerable<RobotAction>> { { nodeName, lastActions } }, null, cancellationToken);

    public Task<RobotResult> Move(string nodeName, double lastAngle, CancellationToken cancellationToken)
        => MoveToNode(nodeName, new Dictionary<string, IEnumerable<RobotAction>>(), lastAngle, cancellationToken);

    public Task<RobotResult> Move(string nodeName, CancellationToken cancellationToken) 
        => MoveToNode(nodeName, new Dictionary<string, IEnumerable<RobotAction>>(), null, cancellationToken);

    public async Task<RobotResult> SimMoveStraight(double x, double y, CancellationToken cancellationToken)
    {
        var state = await GetState();
        if (!state.IsReady)
        {
            throw new InvalidOperationException($"Robot '{RobotId}' không sẵn sàng để thực hiện di chuyển đến [{x}; {y}]!");
        }

        var result = await Connection.InvokeAsync<MessageResult>("MoveStraight", new RobotMoveStraightModel()
        {
            RobotId = RobotId,
            X = x,
            Y = y
        }, cancellationToken);


        if (!result.IsSuccess)
        {
            throw new InvalidOperationException($"Failed to move straight to [{x}; {y}]: {result.Message}");
        }

        return await WaitOrder($"Robot move straight to [{x}; {y}]", cancellationToken);
    }

    public async Task<RobotResult> SimRotate(double angle, CancellationToken cancellationToken)
    {
        var state = await GetState();
        if (!state.IsReady)
        {
            throw new InvalidOperationException($"Robot '{RobotId}' không sẵn sàng để thực hiện rotate to [{angle}]!");
        }

        var result = await Connection.InvokeAsync<MessageResult>("Rotate", new RobotRotateModel()
        {
            RobotId = RobotId,
            Angle = angle
        }, cancellationToken);


        if (!result.IsSuccess)
        {
            throw new InvalidOperationException($"Failed to rotate to [{angle}]: {result.Message}");
        }

        return await WaitOrder($"Robot rotate to [{angle}]", cancellationToken);
    }

    public async Task<bool> WaitForReady(CancellationToken cancellationToken)
    {
        var state = await GetState();
        while(!state.IsReady && !cancellationToken.IsCancellationRequested)
        {
            try
            {
                await Task.Delay(50, cancellationToken);
            }
            catch (TaskCanceledException)
            {
                return false; // Operation was canceled
            }
            state = await GetState();
        }
        if (cancellationToken.IsCancellationRequested)
        {
            return false; // Operation was canceled
        }
        return state.IsReady;
    }

    public async Task<bool> RequestACSIn(string id)
    {
        var result = await Connection.InvokeAsync<MessageResult>(nameof(RequestACSIn), RobotId, id);
        return result.IsSuccess;
    }

    public async Task<bool> RequestACSOut(string id)
    {
        var result = await Connection.InvokeAsync<MessageResult>(nameof(RequestACSOut), RobotId, id);
        return result.IsSuccess;
    }

    public async Task<bool> CancelOrder()
    {
        var result = await Connection.InvokeAsync<MessageResult>(nameof(CancelOrder), RobotId);
        return result.IsSuccess;
    }

    public async Task<bool> CancelAction()
    {
        var result = await Connection.InvokeAsync<MessageResult>(nameof(CancelOrder), RobotId);
        return result.IsSuccess;
    }
}