using Sick.Tim781s.Colab;
using Sick.Tim781s.Colab.Commands;
using Sick.Tim781s.Colab.Communication;

namespace Sick.Tim781s.Colab;

/// <summary>
/// Main class for communicating with SICK TiM781s scanner using ColaB protocol
/// </summary>
public sealed class Tim781sScanner : IDisposable
{
    private readonly ColaBSession _session;
    private readonly TcpClient _tcpClient;
    private bool _disposed;

    public Tim781sScanner(string ipAddress, ushort port = 2112)
    {
        _tcpClient = new TcpClient(ipAddress, port);
        _session = new ColaBSession(_tcpClient);
    }

    /// <summary>
    /// Connects to the scanner
    /// </summary>
    public void Connect(int timeoutMs = 5000)
    {
        _session.Open(timeoutMs);
    }

    /// <summary>
    /// Disconnects from the scanner
    /// </summary>
    public void Disconnect()
    {
        _session.Close();
    }

    /// <summary>
    /// Gets whether the scanner is connected
    /// </summary>
    public bool IsConnected => _session.IsOpen;

    /// <summary>
    /// Reads device identification
    /// </summary>
    public string? ReadDeviceIdent(int timeoutMs = 5000)
    {
        var command = new ReadCommand("DeviceIdent");
        _session.ExecuteCommand(command, timeoutMs);
        return command.ReplyValue;
    }

    /// <summary>
    /// Reads serial number
    /// </summary>
    public string? ReadSerialNumber(int timeoutMs = 5000)
    {
        var command = new ReadCommand("SerialNumber");
        _session.ExecuteCommand(command, timeoutMs);
        return command.ReplyValue;
    }

    /// <summary>
    /// Reads firmware version
    /// </summary>
    public string? ReadFirmwareVersion(int timeoutMs = 5000)
    {
        var command = new ReadCommand("FirmwareVersion");
        _session.ExecuteCommand(command, timeoutMs);
        return command.ReplyValue;
    }

    /// <summary>
    /// Starts measurement
    /// </summary>
    public bool StartMeasurement(int timeoutMs = 5000)
    {
        var command = new MethodCommand("mNEVAChangeState", "1"); // 1 = measurement mode
        _session.ExecuteCommand(command, timeoutMs);
        return command.WasSuccessful;
    }

    /// <summary>
    /// Stops measurement
    /// </summary>
    public bool StopMeasurement(int timeoutMs = 5000)
    {
        var command = new MethodCommand("mNEVAChangeState", "0"); // 0 = standby mode
        _session.ExecuteCommand(command, timeoutMs);
        return command.WasSuccessful;
    }

    /// <summary>
    /// Executes a custom read command
    /// </summary>
    public string? ExecuteRead(string variableName, int timeoutMs = 5000)
    {
        var command = new ReadCommand(variableName);
        _session.ExecuteCommand(command, timeoutMs);
        return command.ReplyValue;
    }

    /// <summary>
    /// Executes a custom write command
    /// </summary>
    public bool ExecuteWrite(string variableName, string value, int timeoutMs = 5000)
    {
        var command = new WriteCommand(variableName, value);
        _session.ExecuteCommand(command, timeoutMs);
        return command.WasSuccessful;
    }

    /// <summary>
    /// Executes a custom method command
    /// </summary>
    public string? ExecuteMethod(string methodName, params string[] parameters)
    {
        var command = new MethodCommand(methodName, parameters);
        _session.ExecuteCommand(command);
        return command.ReplyValue;
    }

    public void Dispose()
    {
        if (_disposed)
            return;

        _session?.Dispose();
        _tcpClient?.Dispose();
        _disposed = true;
    }
}