using RobotNet10.FleetManager.Script;
using RobotNet10.FleetManager.Services.RobotController;

namespace RobotNet10.FleetManager.Services.Script;

public class ScriptRobot(string robotId, string robotName, Guid modelId, Guid? mapId, IRobotController robotController) : IRobot
{
    public string RobotId { get; } = robotId;

    public string Name { get; } = robotName;

    public Guid ModelId { get; } = modelId;

    public Guid? MapId { get; } = mapId;

    public RobotState State => new( robotController.IsReady,
                                    robotController.Data.State?.BatteryState.BatteryVoltage ?? 0,
                                    robotController.Data.State?.Loads ?? [],
                                    robotController.Data.State?.BatteryState.Charging ?? false,
                                    robotController.Data.Visualization?.AgvPosition.X ?? 0,
                                    robotController.Data.Visualization?.AgvPosition.Y ?? 0,
                                    robotController.Data.Visualization?.AgvPosition.Theta ?? 0);

    public Task AbortMovement()
    {
        throw new NotImplementedException();
    }

    public async Task<RobotResult> Execute(RobotNet.VDA5050.InstantAction.Action action, CancellationToken cancellationToken)
    {
        var result = await robotController.SendInstantActionAsync(action, cancellationToken);
        return new(result.IsSuccess, result.Message);
    }

    public async Task<RobotResult> MoveToNode(string nodeName, CancellationToken cancellationToken)
    {
        var result = await robotController.MoveToNodeAsync(nodeName, null, cancellationToken);
        return new(result.IsSuccess, result.Message);
    }

    public async Task<RobotResult> MoveToNode(string nodeName, double lastAngle, CancellationToken cancellationToken)
    {
        var result = await robotController.MoveToNodeAsync(nodeName, lastAngle, cancellationToken);
        return new(result.IsSuccess, result.Message);
    }

    public async Task<RobotResult> MoveToStation(string stationName, StationAction action, CancellationToken cancellationToken)
    {
        var result = await robotController.MoveToStationAsync(stationName, action, cancellationToken);
        return new(result.IsSuccess, result.Message);
    }
}