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

namespace RobotNet.RobotManager.Services.Planner.ForkliftV2;

public class SSEAStarPathPlanner(List<NodeDto> Nodes, List<EdgeDto> Edges)
{
    private NodeDto? GetOnNode(double x, double y, double limitDistance, CancellationToken? cancellationToken = null)
    {
        if (cancellationToken?.IsCancellationRequested == true) return null;
        KDTree KDTree = new(Nodes);
        return KDTree.FindNearest(x, y, limitDistance);
    }

    //public EdgeDto? GetClosesEdge(double x, double y, double limitDistance, CancellationToken? cancellationToken = null)
    //{
    //    if (cancellationToken?.IsCancellationRequested == true) return null;
    //    RTree RTree = new(Nodes, Edges);
    //    return RTree.FindNearest(x, y, limitDistance);
    //}

    public EdgeDto? GetClosesEdge(double x, double y, double limitDistance, CancellationToken? cancellationToken = null)
    {
        double minDistance = double.MaxValue;
        EdgeDto? edgeResult = null;
        foreach (var edge in Edges)
        {
            if (cancellationToken is not null && cancellationToken.Value.IsCancellationRequested) return null;
            var startNode = Nodes.FirstOrDefault(node => node.Id == edge.StartNodeId);
            var endNode = Nodes.FirstOrDefault(node => node.Id == edge.EndNodeId);
            if (startNode is null || endNode is null) continue;

            var getDistance = MapCompute.DistanceToEdge(x, y, edge, startNode, endNode);
            if (getDistance.IsSuccess)
            {
                if (getDistance.Data < minDistance)
                {
                    minDistance = getDistance.Data;
                    edgeResult = edge;
                }
            }
        }
        if (minDistance <= limitDistance) return edgeResult;
        else return null;
    }

    public List<NodeDto> GetNegativeNode(Guid nodeId, CancellationToken? cancellationToken = null)
    {
        var node = Nodes.FirstOrDefault(p => p.Id == nodeId);
        if (node is null) return [];

        var listNodesNegative = new List<NodeDto>();
        var listPaths = Edges.Where(p => p.EndNodeId == nodeId || p.StartNodeId == nodeId);
        foreach (var path in listPaths)
        {
            if (cancellationToken.HasValue && cancellationToken.Value.IsCancellationRequested) return [];
            if (path.StartNodeId == node.Id && (path.DirectionAllowed == DirectionAllowed.Both || path.DirectionAllowed == DirectionAllowed.Forward))
            {
                var nodeAdd = Nodes.FirstOrDefault(p => p.Id == path.EndNodeId);
                if (nodeAdd != null) listNodesNegative.Add(nodeAdd);
                continue;
            }
            if (path.EndNodeId == node.Id && (path.DirectionAllowed == DirectionAllowed.Both || path.DirectionAllowed == DirectionAllowed.Backward))
            {
                var nodeAdd = Nodes.FirstOrDefault(p => p.Id == path.StartNodeId);
                if (nodeAdd != null) listNodesNegative.Add(nodeAdd);
                continue;
            }
        }
        return listNodesNegative;
    }

    private double GetNegativeCost(SSEAStarNode currentNode, SSEAStarNode negativeNode)
    {
        var negativeEdges = Edges.Where(e => e.StartNodeId == currentNode.Id && e.EndNodeId == negativeNode.Id ||
                                            e.StartNodeId == negativeNode.Id && e.EndNodeId == currentNode.Id).ToList();
        double minDistance = double.MaxValue;
        foreach (var edge in negativeEdges)
        {
            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 0;
            var distance = MapEditorHelper.GetEdgeLength(new()
            {
                X1 = startNode.X,
                Y1 = startNode.Y,
                X2 = endNode.X,
                Y2 = endNode.Y,
                ControlPoint1X = edge.ControlPoint1X,
                ControlPoint1Y = edge.ControlPoint1Y,
                ControlPoint2X = edge.ControlPoint2X,
                ControlPoint2Y = edge.ControlPoint2Y,
                TrajectoryDegree = edge.TrajectoryDegree,
            });
            if (distance < minDistance) minDistance = distance;
        }
        return minDistance != double.MaxValue ? minDistance : 0;
    }

    private List<SSEAStarNode> GetNegativeAStarNode(SSEAStarNode nodeCurrent, NodeDto endNode, CancellationToken? cancellationToken = null)
    {
        var possiblePointNegative = new List<SSEAStarNode>();
        if (nodeCurrent.Id == endNode.Id) return possiblePointNegative;

        var listNodesNegative = GetNegativeNode(nodeCurrent.Id, cancellationToken);

        foreach (var item in listNodesNegative)
        {
            if (cancellationToken.HasValue && cancellationToken.Value.IsCancellationRequested) return [];
            if (nodeCurrent.Parent is null) continue;
            var nodeDtoCurrent = Nodes.FirstOrDefault(n => n.Id == nodeCurrent.Id);
            var nodeDtoNegative = Nodes.FirstOrDefault(n => n.Id == item.Id);
            var nodeDtoParent = Nodes.FirstOrDefault(n => n.Id == nodeCurrent.Parent.Id);
            var negativeEdge = Edges.FirstOrDefault(e => e.StartNodeId == nodeCurrent.Id && e.EndNodeId == item.Id || e.EndNodeId == nodeCurrent.Id && e.StartNodeId == item.Id);
            var parentEdge = Edges.FirstOrDefault(e => e.StartNodeId == nodeCurrent.Id && e.EndNodeId == nodeCurrent.Parent.Id || e.EndNodeId == nodeCurrent.Id && e.StartNodeId == nodeCurrent.Parent.Id);

            if (nodeDtoCurrent is null || nodeDtoNegative is null || negativeEdge is null) continue;

            var nearNodeNevgative = MapEditorHelper.GetNearByNode(nodeDtoCurrent, nodeDtoNegative, negativeEdge, 0.01);
            var nearNodeParent = nodeDtoParent is not null && parentEdge is not null ? MapEditorHelper.GetNearByNode(nodeDtoCurrent, nodeDtoParent, parentEdge, 0.01) :
                                 new()
                                 {
                                     Id = nodeCurrent.Parent.Id,
                                     X = nodeCurrent.Parent.X,
                                     Y = nodeCurrent.Parent.Y,
                                     Name = nodeCurrent.Parent.Name
                                 };

            var angle = MapEditorHelper.GetAngle(nodeDtoCurrent, nearNodeNevgative, nearNodeParent);
            RobotDirection direction = angle < 89 ? nodeCurrent.Direction == RobotDirection.FORWARD ? RobotDirection.BACKWARD : RobotDirection.FORWARD : nodeCurrent.Direction;

            var nodeNegative = new SSEAStarNode
            {
                Id = item.Id,
                X = item.X,
                Y = item.Y,
                Name = item.Name,
                Direction = direction,
                Parent = nodeCurrent
            };

            var cost = GetNegativeCost(nodeCurrent, nodeNegative);
            cost = cost > 0 ? cost : Math.Sqrt(Math.Pow(nodeCurrent.X - nodeNegative.X, 2) + Math.Pow(nodeCurrent.Y - nodeNegative.Y, 2));
            nodeNegative.Cost = cost + nodeCurrent.Cost + (direction == RobotDirection.BACKWARD ? cost * Math.Sqrt(2) / 2 : 0.0);
            var distance = Math.Abs(endNode.X - nodeNegative.X) + Math.Abs(endNode.Y - nodeNegative.Y);
            nodeNegative.Heuristic = distance + (direction == RobotDirection.BACKWARD ? distance : 0.0);
            possiblePointNegative.Add(nodeNegative);
        }
        if (nodeCurrent.NegativeNodes is not null && nodeCurrent.NegativeNodes.Count > 0) possiblePointNegative.AddRange(nodeCurrent.NegativeNodes);
        return possiblePointNegative;
    }

    public List<SSEAStarNode> Find(SSEAStarNode startNode, NodeDto endNode, RobotDirection goalDirection, CancellationToken? cancellationToken = null)
    {
        try
        {
            var activeNodes = new PriorityQueue<SSEAStarNode>((a, b) => a.TotalCost.CompareTo(b.TotalCost));
            var visitedNodes = new HashSet<SSEAStarNode>();
            var path = new List<SSEAStarNode>();
            var shortestPath = new HashSet<SSEAStarNode>();

            activeNodes.Enqueue(startNode);

            while (activeNodes.Count > 0 && (!cancellationToken.HasValue || !cancellationToken.Value.IsCancellationRequested))
            {
                var checkNode = activeNodes.Dequeue();
                if (checkNode.Id == endNode.Id)
                {
                    if (checkNode.Direction == goalDirection)
                    {
                        var node = checkNode;
                        while (node != null)
                        {
                            if (cancellationToken.HasValue && cancellationToken.Value.IsCancellationRequested) return [];
                            path.Add(node);
                            node = node.Parent;
                        }
                        return path;
                    }
                    else
                    {
                        var node = checkNode;
                        while (node != null)
                        {
                            if (cancellationToken.HasValue && cancellationToken.Value.IsCancellationRequested) return [];
                            shortestPath.Add(node);
                            node = node.Parent;
                        }
                    }
                }

                visitedNodes.Add(checkNode);

                var listNodeNegative = GetNegativeAStarNode(checkNode, endNode, cancellationToken);
                foreach (var node in listNodeNegative)
                {
                    if (visitedNodes.TryGetValue(node, out SSEAStarNode? value) && value is not null)
                    {
                        if (value.TotalCost > node.TotalCost || shortestPath.Any(n => n.Id == node.Id) && value.Parent is not null && value.Parent.Heuristic < checkNode.Heuristic)
                        {
                            visitedNodes.Remove(value);
                            activeNodes.Enqueue(node);
                        }
                        continue;
                    }

                    var activeNode = activeNodes.Items.FirstOrDefault(n => n.Id == node.Id && n.Direction == node.Direction);
                    if (activeNode is not null && activeNode.TotalCost > node.TotalCost)
                    {
                        activeNodes.Items.Remove(activeNode);
                        activeNodes.Enqueue(node);
                    }
                    else
                    {
                        activeNodes.Enqueue(node);
                    }
                }
            }

            return [];
        }
        catch
        {
            return [];
        }
    }

    public List<SSEAStarNode> Find(SSEAStarNode startNode, NodeDto endNode, CancellationToken? cancellationToken = null)
    {
        try
        {
            var activeNodes = new PriorityQueue<SSEAStarNode>((a, b) => a.TotalCost.CompareTo(b.TotalCost));
            var visitedNodes = new HashSet<SSEAStarNode>();
            var path = new List<SSEAStarNode>();
            var shortestPath = new HashSet<SSEAStarNode>();

            activeNodes.Enqueue(startNode);

            while (activeNodes.Count > 0 && (!cancellationToken.HasValue || !cancellationToken.Value.IsCancellationRequested))
            {
                var checkNode = activeNodes.Dequeue();
                if (checkNode.Id == endNode.Id)
                {
                    if (checkNode.Parent is not null)
                    {
                        var nodeParentDto = Nodes.FirstOrDefault(n => n.Id == checkNode.Parent.Id);
                        var edge = Edges.FirstOrDefault(e => e.StartNodeId == checkNode.Id && e.EndNodeId == checkNode.Parent.Id || e.EndNodeId == checkNode.Id && e.StartNodeId == checkNode.Parent.Id);
                        if (edge is not null && nodeParentDto is not null)
                        {
                            var nearParent = MapEditorHelper.GetNearByNode(endNode, nodeParentDto, edge, 0.01);
                            var nearGoalNode = new NodeDto()
                            {
                                X = endNode.X + Math.Cos(endNode.Theta * Math.PI / 180),
                                Y = endNode.Y + Math.Sin(endNode.Theta * Math.PI / 180),
                            };

                            var angle = MapEditorHelper.GetAngle(endNode, nearParent, nearGoalNode);
                            RobotDirection goalDirection = angle < 89 ? RobotDirection.BACKWARD : RobotDirection.FORWARD;
                            if (checkNode.Direction == goalDirection)
                            {
                                var returnNode = checkNode;
                                while (returnNode != null)
                                {
                                    if (cancellationToken.HasValue && cancellationToken.Value.IsCancellationRequested) return [];
                                    path.Add(returnNode);
                                    returnNode = returnNode.Parent;
                                }
                                return path;
                            }
                        }
                    }

                    var node = checkNode;
                    while (node != null)
                    {
                        if (cancellationToken.HasValue && cancellationToken.Value.IsCancellationRequested) return [];
                        shortestPath.Add(node);
                        node = node.Parent;
                    }
                }

                visitedNodes.Add(checkNode);

                var listNodeNegative = GetNegativeAStarNode(checkNode, endNode, cancellationToken);
                foreach (var node in listNodeNegative)
                {
                    if (visitedNodes.TryGetValue(node, out SSEAStarNode? value) && value is not null)
                    {
                        if (value.TotalCost > node.TotalCost || shortestPath.Any(n => n.Id == node.Id) && value.Parent is not null && value.Parent.Heuristic < checkNode.Heuristic)
                        {
                            visitedNodes.Remove(value);
                            activeNodes.Enqueue(node);
                        }
                        continue;
                    }

                    var activeNode = activeNodes.Items.FirstOrDefault(n => n.Id == node.Id && n.Direction == node.Direction);
                    if (activeNode is not null && activeNode.TotalCost > node.TotalCost)
                    {
                        activeNodes.Items.Remove(activeNode);
                        activeNodes.Enqueue(node);
                    }
                    else
                    {
                        activeNodes.Enqueue(node);
                    }
                }
            }

            return [];
        }
        catch
        {
            return [];
        }
    }

    private SSEAStarNode GetClosesNode(NodeDto closesNode, NodeDto goal, double theta, CancellationToken? cancellationToken = null)
    {
        SSEAStarNode closesAStarNode = new()
        {
            Id = closesNode.Id,
            X = closesNode.X,
            Y = closesNode.Y,
            Name = closesNode.Name,
        };
        foreach (var negativeNode in GetNegativeNode(closesAStarNode.Id, cancellationToken))
        {
            SSEAStarNode closesAStarNodeParent = new()
            {
                Id = closesNode.Id,
                X = closesNode.X,
                Y = closesNode.Y,
                Name = closesNode.Name,
            };
            var RobotNearNode = new NodeDto()
            {
                X = closesAStarNode.X + Math.Cos(theta * Math.PI / 180),
                Y = closesAStarNode.Y + Math.Sin(theta * Math.PI / 180),
            };

            var angle = MapEditorHelper.GetAngle(closesNode, negativeNode, RobotNearNode);
            RobotDirection direction = angle < 91 ? RobotDirection.FORWARD : RobotDirection.BACKWARD;

            var cost = GetNegativeCost(closesAStarNode, new() { Id = negativeNode.Id, X = negativeNode.X, Y = negativeNode.Y });
            cost = cost > 0 ? cost : Math.Sqrt(Math.Pow(closesAStarNode.X - negativeNode.X, 2) + Math.Pow(closesAStarNode.Y - negativeNode.Y, 2));
            cost += direction == RobotDirection.BACKWARD ? cost * Math.Sqrt(2) / 2 : 0.0;
            closesAStarNodeParent.Direction = direction;
            closesAStarNode.NegativeNodes.Add(new()
            {
                Id = negativeNode.Id,
                X = negativeNode.X,
                Y = negativeNode.Y,
                Name = negativeNode.Name,
                Direction = direction,
                Cost = cost,
                Heuristic = Math.Abs(goal.X - negativeNode.X) + Math.Abs(goal.Y - negativeNode.Y),
                Parent = closesAStarNodeParent,
            });
        }
        return closesAStarNode;
    }

    private static SSEAStarNode[] GetClosesEdge(EdgeDto closesEdge, NodeDto goal, NodeDto startNodeForward, NodeDto startNodeBackward, SSEAStarNode robotNode, double theta)
    {
        List<SSEAStarNode> negativeNodes = [];
        if (closesEdge.DirectionAllowed == DirectionAllowed.Both || closesEdge.DirectionAllowed == DirectionAllowed.Backward)
        {
            SSEAStarNode closesAStarNodeParent = new()
            {
                Id = robotNode.Id,
                X = robotNode.X,
                Y = robotNode.Y,
                Name = robotNode.Name,
            };
            var RobotNearNode = new NodeDto()
            {
                X = robotNode.X + Math.Cos(theta * Math.PI / 180),
                Y = robotNode.Y + Math.Sin(theta * Math.PI / 180),
            };
            var angle = MapEditorHelper.GetAngle(new() { X = robotNode.X, Y = robotNode.Y, Theta = theta }, startNodeForward, RobotNearNode);
            RobotDirection direction = angle < 91 ? RobotDirection.FORWARD : RobotDirection.BACKWARD;

            double cost = Math.Sqrt(Math.Pow(robotNode.X - startNodeBackward.X, 2) + Math.Pow(robotNode.Y - startNodeBackward.Y, 2));
            cost += direction == RobotDirection.BACKWARD ? cost * Math.Sqrt(2) / 2 : 0.0;
            closesAStarNodeParent.Direction = direction;
            negativeNodes.Add(new()
            {
                Id = startNodeForward.Id,
                X = startNodeForward.X,
                Y = startNodeForward.Y,
                Name = startNodeForward.Name,
                Direction = direction,
                Cost = cost,
                Heuristic = Math.Abs(goal.X - startNodeForward.X) + Math.Abs(goal.Y - startNodeForward.Y),
                Parent = closesAStarNodeParent,
            });
        }
        if (closesEdge.DirectionAllowed == DirectionAllowed.Both || closesEdge.DirectionAllowed == DirectionAllowed.Forward)
        {
            SSEAStarNode closesAStarNodeParent = new()
            {
                Id = robotNode.Id,
                X = robotNode.X,
                Y = robotNode.Y,
                Name = robotNode.Name,
            };
            var RobotNearNode = new NodeDto()
            {
                X = robotNode.X + Math.Cos(theta * Math.PI / 180),
                Y = robotNode.Y + Math.Sin(theta * Math.PI / 180),
            };
            var angle = MapEditorHelper.GetAngle(new() { X = robotNode.X, Y = robotNode.Y, Theta = theta }, startNodeBackward, RobotNearNode);
            RobotDirection direction = angle < 91 ? RobotDirection.FORWARD : RobotDirection.BACKWARD;

            double cost = Math.Sqrt(Math.Pow(robotNode.X - startNodeBackward.X, 2) + Math.Pow(robotNode.Y - startNodeBackward.Y, 2));
            cost += direction == RobotDirection.BACKWARD ? cost * Math.Sqrt(2) / 2 : 0.0;
            closesAStarNodeParent.Direction = direction;
            negativeNodes.Add(new()
            {
                Id = startNodeBackward.Id,
                X = startNodeBackward.X,
                Y = startNodeBackward.Y,
                Name = startNodeBackward.Name,
                Direction = direction,
                Cost = cost,
                Heuristic = Math.Abs(goal.X - startNodeBackward.X) + Math.Abs(goal.Y - startNodeBackward.Y),
                Parent = closesAStarNodeParent,
            });
        }
        return [.. negativeNodes];
    }

    public MessageResult<List<NodeDto>> PlanningWithFinalDirection(double x, double y, double theta, NodeDto goal, RobotDirection goalDirection, double maxDistanceToEdge, double maxDistanceToNode, CancellationToken? cancellationToken = null)
    {
        var Path = new List<NodeDto>();

        SSEAStarNode RobotNode = new()
        {
            Id = Guid.NewGuid(),
            X = x,
            Y = y,
            Name = "RobotCurrentNode",
        };
        var closesNode = GetOnNode(x, y, maxDistanceToNode);
        if (closesNode is not null)
        {
            if (closesNode.Id == goal.Id) return new(true, "Robot đang đứng tại điểm đích") { Data = [goal] };
            RobotNode = GetClosesNode(closesNode, goal, theta);
        }
        else
        {
            var closesEdge = GetClosesEdge(x, y, maxDistanceToEdge, cancellationToken);
            if (closesEdge is null)
            {
                return new(false, "Robot đang quá xa tuyến đường");
            }

            var startNodeForward = Nodes.FirstOrDefault(p => p.Id == closesEdge.StartNodeId);
            var startNodeBackward = Nodes.FirstOrDefault(p => p.Id == closesEdge.EndNodeId);
            if (startNodeForward is null || startNodeBackward is null)
            {
                return new(false, "Dữ liệu lỗi: điểm chặn của edge gần nhất không tồn tại");
            }
            if (startNodeForward.Id == goal.Id && (closesEdge.DirectionAllowed == DirectionAllowed.Both || closesEdge.DirectionAllowed == DirectionAllowed.Backward))
            {
                Path.Add(startNodeBackward);
                Path.Add(startNodeForward);
                return new(true) { Data = Path };
            }
            if (startNodeBackward.Id == goal.Id && (closesEdge.DirectionAllowed == DirectionAllowed.Both || closesEdge.DirectionAllowed == DirectionAllowed.Forward))
            {
                Path.Add(startNodeForward);
                Path.Add(startNodeBackward);
                return new(true) { Data = Path };
            }
            RobotNode.NegativeNodes.AddRange(GetClosesEdge(closesEdge, goal, startNodeForward, startNodeBackward, RobotNode, theta));
        }

        if (RobotNode.NegativeNodes.Count < 1) return new(false, $"Đường đi đến {goal.Name} - {goal.Id} không tồn tại từ [{x}, {y}]");

        var path = Find(RobotNode, goal, goalDirection, cancellationToken);
        if (cancellationToken is not null && cancellationToken.Value.IsCancellationRequested) return new(false, "Yêu cầu hủy bỏ");
        if (path is null || path.Count < 1) return new(false, $"Đường đi đến {goal.Name} - {goal.Id} không tồn tại từ [{x}, {y}]");
        path.Reverse();
        foreach (var node in path)
        {
            if (node.Id == path.First().Id)
            {
                Path.Add(new()
                {
                    Id = node.Id,
                    Name = node.Name,
                    X = node.X,
                    Y = node.Y,
                    Direction = MapCompute.GetNodeDirection(node.Direction),
                });
                continue;
            }
            var nodedb = Nodes.FirstOrDefault(p => p.Id == node.Id);
            if (nodedb is null) return new(false, "Dữ liệu bản đồ có lỗi");
            nodedb.Direction = MapCompute.GetNodeDirection(node.Direction);
            Path.Add(nodedb);
        }
        return new(true) { Data = Path };
    }

    public MessageResult<List<NodeDto>> PlanningWithGoalAngle(double x, double y, double theta, NodeDto goal, double maxDistanceToEdge, double maxDistanceToNode, CancellationToken? cancellationToken = null)
    {
        var Path = new List<NodeDto>();

        SSEAStarNode RobotNode = new()
        {
            Id = Guid.NewGuid(),
            X = x,
            Y = y,
            Name = "RobotCurrentNode",
        };
        var closesNode = GetOnNode(x, y, maxDistanceToNode);
        if (closesNode is not null)
        {
            if (closesNode.Id == goal.Id) return new(true, "Robot đang đứng tại điểm đích") { Data = [goal] };
            RobotNode = GetClosesNode(closesNode, goal, theta);
        }
        else
        {
            var closesEdge = GetClosesEdge(x, y, maxDistanceToEdge, cancellationToken);
            if (closesEdge is null)
            {
                return new(false, "Robot đang quá xa tuyến đường");
            }

            var startNodeForward = Nodes.FirstOrDefault(p => p.Id == closesEdge.StartNodeId);
            var startNodeBackward = Nodes.FirstOrDefault(p => p.Id == closesEdge.EndNodeId);
            if (startNodeForward is null || startNodeBackward is null)
            {
                return new(false, "Dữ liệu lỗi: điểm chặn của edge gần nhất không tồn tại");
            }
            if (startNodeForward.Id == goal.Id && (closesEdge.DirectionAllowed == DirectionAllowed.Both || closesEdge.DirectionAllowed == DirectionAllowed.Backward))
            {
                Path.Add(startNodeBackward);
                Path.Add(startNodeForward);
                return new(true) { Data = Path };
            }
            if (startNodeBackward.Id == goal.Id && (closesEdge.DirectionAllowed == DirectionAllowed.Both || closesEdge.DirectionAllowed == DirectionAllowed.Forward))
            {
                Path.Add(startNodeForward);
                Path.Add(startNodeBackward);
                return new(true) { Data = Path };
            }
            RobotNode.NegativeNodes.AddRange(GetClosesEdge(closesEdge, goal, startNodeForward, startNodeBackward, RobotNode, theta));
        }

        if (RobotNode.NegativeNodes.Count < 1) return new(false, $"Đường đi đến {goal.Name} - {goal.Id} không tồn tại từ [{x}, {y}]");

        var path = Find(RobotNode, goal, cancellationToken);
        if (cancellationToken is not null && cancellationToken.Value.IsCancellationRequested) return new(false, "Yêu cầu hủy bỏ");
        if (path is null || path.Count < 1) return new(false, $"Đường đi đến {goal.Name} - {goal.Id} không tồn tại từ [{x}, {y}]");
        path.Reverse();
        foreach (var node in path)
        {
            if (node.Id == path.First().Id)
            {
                Path.Add(new()
                {
                    Id = node.Id,
                    Name = node.Name,
                    X = node.X,
                    Y = node.Y,
                    Direction = MapCompute.GetNodeDirection(node.Direction),
                });
                continue;
            }
            var nodedb = Nodes.FirstOrDefault(p => p.Id == node.Id);
            if (nodedb is null) return new(false, "Dữ liệu bản đồ có lỗi");
            nodedb.Direction = MapCompute.GetNodeDirection(node.Direction);
            Path.Add(nodedb);
        }
        return new(true) { Data = Path };
    }

    public MessageResult<NodeDto[]> PlanningWithFinalDirection(NodeDto startNode, double theta, NodeDto goal, RobotDirection goalDirection, CancellationToken? cancellationToken = null)
    {
        var Path = new List<NodeDto>();
        SSEAStarNode RobotNode = GetClosesNode(startNode, goal, theta);
        var path = Find(RobotNode, goal, goalDirection, cancellationToken);
        if (cancellationToken is not null && cancellationToken.Value.IsCancellationRequested) return new(false, "Yêu cầu hủy bỏ");
        if (path is null || path.Count < 1) return new(false, $"Đường đi đến {goal.Name} - {goal.Id} không tồn tại từ [{startNode.Name} - {startNode.Id}]");
        path.Reverse();
        foreach (var node in path)
        {
            var nodedb = Nodes.FirstOrDefault(p => p.Id == node.Id);
            if (nodedb is null) return new(false, "Dữ liệu bản đồ có lỗi");
            nodedb.Direction = MapCompute.GetNodeDirection(node.Direction);
            Path.Add(nodedb);
        }
        return new(true) { Data = [.. Path] };
    }

    public MessageResult<NodeDto[]> PlanningWithGoalAngle(NodeDto startNode, double theta, NodeDto goal, CancellationToken? cancellationToken = null)
    {
        var Path = new List<NodeDto>();
        SSEAStarNode RobotNode = GetClosesNode(startNode, goal, theta);
        var path = Find(RobotNode, goal, cancellationToken);
        if (cancellationToken is not null && cancellationToken.Value.IsCancellationRequested) return new(false, "Yêu cầu hủy bỏ");
        if (path is null || path.Count < 1) return new(false, $"Đường đi đến {goal.Name} - {goal.Id} không tồn tại từ [{startNode.Name} - {startNode.Id}]");
        path.Reverse();
        foreach (var node in path)
        {
            var nodedb = Nodes.FirstOrDefault(p => p.Id == node.Id);
            if (nodedb is null) return new(false, "Dữ liệu bản đồ có lỗi");
            nodedb.Direction = MapCompute.GetNodeDirection(node.Direction);
            Path.Add(nodedb);
        }
        return new(true) { Data = [.. Path] };
    }
}