@page "/plc/controller"
@rendermode InteractiveWebAssemblyNoPrerender
@implements IAsyncDisposable

@using RobotNet10.RobotApp.Client.Clients
@using RobotNet10.RobotApp.Client.Shared.Plc
@using Microsoft.AspNetCore.SignalR.Client
@using Microsoft.Extensions.DependencyInjection
@using MudBlazor

<PageTitle>PLC Controller</PageTitle>

<div style="height: 100%; display: flex; flex-direction: column; overflow: hidden;">
    @* Sticky Header Section *@
    <div style="flex-shrink: 0; background: var(--mud-palette-background); z-index: 10;">
        <MudContainer MaxWidth="MaxWidth.ExtraLarge" Class="py-3">
            <MudStack Spacing="2">
                <MudText Typo="Typo.h5">PLC Controller Status</MudText>

                @* Connection Status *@
                <MudAlert Severity="@(hubClient?.IsConnected == true ? Severity.Success : Severity.Warning)" Dense>
                    @if (hubClient?.IsConnected == true)
                    {
                        <MudText>Connected to PlcControllerHub</MudText>
                    }
                    else
                    {
                        <MudText>Disconnected from PlcControllerHub</MudText>
                    }
                </MudAlert>

                @* Control Section *@
                <MudPaper Class="pa-3">
                    <MudStack Row="true" Spacing="2" AlignItems="@AlignItems.Center">
                        <MudButton Variant="Variant.Filled"
                                   Color="Color.Success"
                                   OnClick="EnableUpdate"
                                   Disabled="@(isUpdateEnabled || !isHubReady)">
                            <MudIcon Icon="@Icons.Material.Filled.PlayArrow" Size="Size.Small" Class="mr-1" />
                            Enable Update
                        </MudButton>

                        <MudButton Variant="Variant.Filled"
                                   Color="Color.Error"
                                   OnClick="DisableUpdate"
                                   Disabled="@(!isUpdateEnabled)">
                            <MudIcon Icon="@Icons.Material.Filled.Stop" Size="Size.Small" Class="mr-1" />
                            Disable Update
                        </MudButton>

                        <MudChip T="string" Color="@(isUpdateEnabled? Color.Success: Color.Default)" Size="Size.Small">
                            @(isUpdateEnabled ? "Updating (2Hz)" : "Stopped")
                        </MudChip>
                    </MudStack>
                </MudPaper>
            </MudStack>
        </MudContainer>
    </div>

    @* Scrollable Content Area *@
    <div style="flex: 1; overflow-y: auto; overflow-x: hidden;">
        <MudContainer MaxWidth="MaxWidth.ExtraLarge" Class="py-3">
            @if (status != null)
            {
                <MudGrid Spacing="2">
                    @* System Status Card *@
                    <MudItem xs="12" md="6" lg="4">
                        <MudCard Style="height: 100%;">
                            <MudCardHeader Class="py-2">
                                <CardHeaderContent>
                                    <MudText Typo="Typo.subtitle1"><strong>System Status</strong></MudText>
                                </CardHeaderContent>
                                <CardHeaderActions>
                                    <MudChip T="string" Color="@(status.IsReady? Color.Success: Color.Error)" Size="Size.Small">
                                        @(status.IsReady ? "Ready" : "Not Ready")
                                    </MudChip>
                                </CardHeaderActions>
                            </MudCardHeader>
                            <MudCardContent Class="py-2">
                                <MudStack Spacing="1">
                                    <MudStack Row="true" Justify="Justify.SpaceBetween" Class="mb-1">
                                        <MudText Typo="Typo.body2">Peripheral Mode:</MudText>
                                        <MudChip T="string" Color="@GetModeColor(status.PeripheralMode)" Size="Size.Small">
                                            @status.PeripheralMode
                                        </MudChip>
                                    </MudStack>
                                    <MudStack Row="true" Justify="Justify.SpaceBetween" Class="mb-1">
                                        <MudText Typo="Typo.body2">Safety Speed:</MudText>
                                        <MudChip T="string" Color="@GetSpeedColor(status.SafetySpeed)" Size="Size.Small">
                                            @status.SafetySpeed
                                        </MudChip>
                                    </MudStack>
                                    <MudStack Row="true" Justify="Justify.SpaceBetween" Class="mb-1">
                                        <MudText Typo="Typo.body2">Stop State:</MudText>
                                        <MudChip T="string" Color="@GetStopStateColor(status.StopState)" Size="Size.Small">
                                            @status.StopState
                                        </MudChip>
                                    </MudStack>
                                </MudStack>
                            </MudCardContent>
                        </MudCard>
                    </MudItem>

                    @* Lift State Card *@
                    <MudItem xs="12" md="6" lg="4">
                        <MudCard Style="height: 100%;">
                            <MudCardHeader Class="py-2">
                                <CardHeaderContent>
                                    <MudText Typo="Typo.subtitle1"><strong>Lift State</strong></MudText>
                                </CardHeaderContent>
                            </MudCardHeader>
                            <MudCardContent Class="py-2">
                                <MudStack Spacing="1">
                                    @StatusIndicator(("Lifted Up", status.LiftedUp, false))
                                    @StatusIndicator(("Lifted Down", status.LiftedDown, false))
                                    @StatusIndicator(("Lift Home", status.LiftHome, false))
                                </MudStack>
                            </MudCardContent>
                        </MudCard>
                    </MudItem>

                    @* (Lift Module control removed; now use LiftModuleCard in Motion/ManualControl page) *@

                    @* Motor State Card *@
                    <MudItem xs="12" md="6" lg="4">
                        <MudCard Style="height: 100%;">
                            <MudCardHeader Class="py-2">
                                <CardHeaderContent>
                                    <MudText Typo="Typo.subtitle1"><strong>Motor State</strong></MudText>
                                </CardHeaderContent>
                            </MudCardHeader>
                            <MudCardContent Class="py-2">
                                <MudStack Spacing="1">
                                    @StatusIndicator(("Left Motor", status.LeftMotorReady, false))
                                    @StatusIndicator(("Right Motor", status.RightMotorReady, false))
                                    @StatusIndicator(("Lift Motor", status.LiftMotorReady, false))
                                </MudStack>
                            </MudCardContent>
                        </MudCard>
                    </MudItem>

                    @* Safety Sensors Card *@
                    <MudItem xs="12" md="6" lg="4">
                        <MudCard Style="height: 100%;">
                            <MudCardHeader Class="py-2">
                                <CardHeaderContent>
                                    <MudText Typo="Typo.subtitle1"><strong>Safety Sensors</strong></MudText>
                                </CardHeaderContent>
                            </MudCardHeader>
                            <MudCardContent Class="py-2">
                                <MudStack Spacing="1">
                                    @StatusIndicator(("Emergency", status.Emergency, true))
                                    @StatusIndicator(("Bumper", status.Bumper, true))
                                    @StatusIndicator(("Lidar Front", status.LidarFrontProtectField, true))
                                    @StatusIndicator(("Lidar Back", status.LidarBackProtectField, true))
                                    @StatusIndicator(("Lidar Tim", status.LidarFrontTimProtectField, true))
                                </MudStack>
                            </MudCardContent>
                        </MudCard>
                    </MudItem>


                    @* Button State Card *@
                    <MudItem xs="12" md="6" lg="4">
                        <MudCard Style="height: 100%;">
                            <MudCardHeader Class="py-2">
                                <CardHeaderContent>
                                    <MudText Typo="Typo.subtitle1"><strong>Button State</strong></MudText>
                                </CardHeaderContent>
                            </MudCardHeader>
                            <MudCardContent Class="py-2">
                                <MudStack Spacing="1">
                                    @StatusIndicator(("Start Button", status.ButtonStart, false))
                                    @StatusIndicator(("Stop Button", status.ButtonStop, true))
                                    @StatusIndicator(("Reset Button", status.ButtonReset, false))
                                </MudStack>
                            </MudCardContent>
                        </MudCard>
                    </MudItem>

                    @* Other State Card *@
                    <MudItem xs="12" md="6" lg="4">
                        <MudCard Style="height: 100%;">
                            <MudCardHeader Class="py-2">
                                <CardHeaderContent>
                                    <MudText Typo="Typo.subtitle1"><strong>Other State</strong></MudText>
                                </CardHeaderContent>
                            </MudCardHeader>
                            <MudCardContent Class="py-2">
                                <MudStack Spacing="1">
                                    @StatusIndicator(("Has Load", status.HasLoad, false))
                                    @StatusIndicator(("Charger Enabled", status.EnabledCharger, false))
                                    @StatusIndicator(("Charging", status.Charging, false))
                                    @StatusIndicator(("Muted Base", status.MutedBase, false))
                                    @StatusIndicator(("Muted Load", status.MutedLoad, false))
                                </MudStack>
                            </MudCardContent>
                        </MudCard>
                    </MudItem>

                    @* Command State Card - Các lệnh đã ghi xuống PLC *@
                    <MudItem xs="12" md="6" lg="4">
                        <MudCard Style="height: 100%;">
                            <MudCardHeader Class="py-2">
                                <CardHeaderContent>
                                    <MudText Typo="Typo.subtitle1"><strong>Command State</strong></MudText>
                                </CardHeaderContent>
                            </MudCardHeader>
                            <MudCardContent Class="py-2">
                                <MudStack Spacing="1">
                                    <MudStack Row="true" Justify="Justify.SpaceBetween" Class="mb-1">
                                        <MudText Typo="Typo.body2">System State:</MudText>
                                        <MudChip T="string" Color="@GetSystemStateColor(status.CurrentSystemState)" Size="Size.Small">
                                            @status.CurrentSystemState
                                        </MudChip>
                                    </MudStack>
                                    <MudStack Row="true" Justify="Justify.SpaceBetween" Class="mb-1">
                                        <MudText Typo="Typo.body2">Operation State:</MudText>
                                        <MudChip T="string" Color="@GetOperationStateColor(status.CurrentOperationState)" Size="Size.Small">
                                            @status.CurrentOperationState
                                        </MudChip>
                                    </MudStack>
                                    <MudStack Row="true" Justify="Justify.SpaceBetween" Class="mb-1">
                                        <MudText Typo="Typo.body2">RF Mode:</MudText>
                                        <MudChip T="string" Color="@GetRFModeColor(status.CurrentRFMode)" Size="Size.Small">
                                            @status.CurrentRFMode
                                        </MudChip>
                                    </MudStack>
                                </MudStack>
                            </MudCardContent>
                        </MudCard>
                    </MudItem>

                    @* Command Values Card - Các giá trị điều khiển đã ghi *@
                    <MudItem xs="12" md="6" lg="4">
                        <MudCard Style="height: 100%;">
                            <MudCardHeader Class="py-2">
                                <CardHeaderContent>
                                    <MudText Typo="Typo.subtitle1"><strong>Command Values</strong></MudText>
                                </CardHeaderContent>
                            </MudCardHeader>
                            <MudCardContent Class="py-2">
                                <MudStack Spacing="1">
                                    @StatusIndicator(("Horizontal Load", status.SetHorizontalLoadValue, false))
                                    @StatusIndicator(("Muted Base (Set)", status.SetMutedBaseValue, false))
                                    @StatusIndicator(("Muted Load (Set)", status.SetMutedLoadValue, false))
                                </MudStack>
                            </MudCardContent>
                        </MudCard>
                    </MudItem>

                    @* Command Values Card - Các giá trị điều khiển đã ghi *@
                    <MudItem xs="12" md="6" lg="4">
                        <MudCard Style="height: 100%;">
                            <MudCardHeader Class="py-2">
                                <CardHeaderContent>
                                    <MudText Typo="Typo.subtitle1"><strong>Command Values</strong></MudText>
                                </CardHeaderContent>
                                <CardHeaderActions>
                                    <MudIcon Icon="@Icons.Material.Filled.Settings" Color="Color.Primary" Size="Size.Small" />
                                </CardHeaderActions>
                            </MudCardHeader>
                            <MudCardContent Class="py-2">
                                <MudStack Spacing="1">
                                    @StatusIndicator(("Charger Enable (Set)", status.SetEnableChargerValue, false))
                                    @StatusIndicator(("Has Load (Set)", status.SetHasLoadValue, false))
                                    @StatusIndicator(("RF E-Stop (Set)", status.SetRFEStopValue, true))
                                    @StatusIndicator(("Batter Low (Set)", status.SetBatteryLowValue, true))
                                </MudStack>
                            </MudCardContent>
                        </MudCard>
                    </MudItem>
                </MudGrid>
            }
        </MudContainer>
    </div>
</div>

<MudThemeProvider IsDarkMode />
<MudPopoverProvider />
<MudDialogProvider />
<MudSnackbarProvider />

@code {
    [Inject] private IServiceProvider ServiceProvider { get; set; } = null!;
    [Inject] private ISnackbar Snackbar { get; set; } = null!;
    [Inject] private HttpClient Http { get; set; } = null!;

    private PlcControllerHubClient? hubClient;
    private PlcControllerStatusDto? status;
    private bool isLoading = false;
    private bool isHubReady = false;
    private bool isUpdateEnabled = false;
    private System.Threading.Timer? updateTimer;
    private bool _disposed = false;

    protected override async Task OnInitializedAsync()
    {
        hubClient = ServiceProvider.GetService<PlcControllerHubClient>();
        if (hubClient is null)
        {
            isHubReady = false;
            return; // PLC hub client not registered (disconnected)
        }

        // Subscribe to connection state changes
        hubClient.ConnectionStateChanged += OnConnectionStateChanged;

        try
        {
            await hubClient.StartAsync();
            isHubReady = hubClient.IsConnected;

            // Wait a bit for connection to establish
            await Task.Delay(500);
            isHubReady = hubClient.IsConnected;
        }
        catch (Exception ex)
        {
            Snackbar.Add($"Error initializing: {ex.Message}", Severity.Error);
            isHubReady = false;
        }
    }

    private void OnConnectionStateChanged(HubConnectionState state)
    {
        isHubReady = state == HubConnectionState.Connected;

        // Stop update if disconnected
        if (!isHubReady && isUpdateEnabled)
        {
            DisableUpdate();
        }

        InvokeAsync(StateHasChanged);
    }

    private void EnableUpdate()
    {
        if (_disposed || isUpdateEnabled || !isHubReady)
            return;

        isUpdateEnabled = true;

        // Start timer at 2Hz (500ms)
        updateTimer = new System.Threading.Timer(
            async _ => await RefreshStatus(),
            null,
            TimeSpan.Zero,
            TimeSpan.FromMilliseconds(500));

        StateHasChanged();
    }

    private void DisableUpdate()
    {
        if (!isUpdateEnabled)
            return;

        isUpdateEnabled = false;

        // Stop and dispose timer
        updateTimer?.Change(Timeout.Infinite, Timeout.Infinite);
        updateTimer?.Dispose();
        updateTimer = null;

        StateHasChanged();
    }

    private async Task RefreshStatus()
    {
        if (_disposed || isLoading || hubClient is null || !isHubReady)
            return;

        try
        {
            isLoading = true;
            status = await hubClient.GetStatusAsync();
            await InvokeAsync(StateHasChanged);
        }
        catch (Exception ex)
        {
            Snackbar.Add($"Error refreshing status: {ex.Message}", Severity.Error);
            isHubReady = false;
            DisableUpdate();
        }
        finally
        {
            isLoading = false;
        }
    }

    private Color GetModeColor(string mode)
    {
        return mode switch
        {
            "AUTOMATIC" => Color.Success,
            "MANUAL" => Color.Warning,
            "SERVICE" => Color.Info,
            _ => Color.Default
        };
    }

    private Color GetSpeedColor(string speed)
    {
        return speed switch
        {
            "Very_Slow" => Color.Error,
            "Slow" => Color.Warning,
            "Normal" => Color.Default,
            "Medium" => Color.Info,
            "Optimal" => Color.Success,
            "Fast" => Color.Primary,
            "Very_Fast" => Color.Secondary,
            _ => Color.Default
        };
    }

    private Color GetStopStateColor(string state)
    {
        return state switch
        {
            "None" => Color.Success,
            "EMC" => Color.Error,
            "Bumper" => Color.Error,
            "FrontProtective" => Color.Warning,
            "BackProtective" => Color.Warning,
            "TimProtective" => Color.Warning,
            _ => Color.Default
        };
    }

    private Color GetSystemStateColor(string state)
    {
        return state switch
        {
            "INIT" => Color.Info,
            "IDLE" => Color.Default,
            "PAUSED" => Color.Warning,
            "PROCCESSING" => Color.Primary,
            "DOCKING" => Color.Secondary,
            "CHARGING" => Color.Tertiary,
            "MAINTENANCE" => Color.Warning,
            "MANUAL" => Color.Info,
            "OVERRIDE" => Color.Warning,
            "ERROR" => Color.Error,
            _ => Color.Default
        };
    }

    private Color GetOperationStateColor(string state)
    {
        return state switch
        {
            "Move" => Color.Primary,
            "Lifting" => Color.Info,
            "LiftRotating" => Color.Secondary,
            "None" => Color.Default,
            _ => Color.Default
        };
    }

    private Color GetRFModeColor(string mode)
    {
        return mode switch
        {
            "Default" => Color.Success,
            "Maintenance" => Color.Warning,
            "Override" => Color.Error,
            "None" => Color.Default,
            _ => Color.Default
        };
    }

    public async ValueTask DisposeAsync()
    {
        if (_disposed)
            return;

        _disposed = true;

        // Stop update timer
        DisableUpdate();

        // Unsubscribe from events
        if (hubClient != null)
        {
            hubClient.ConnectionStateChanged -= OnConnectionStateChanged;
        }
    }
}

@* Status Indicator Component *@
@code {
    private RenderFragment<(string Label, bool Value, bool DangerWhenTrue)> StatusIndicator => context =>
        @<MudStack Row="true" Justify="Justify.SpaceBetween" Class="mb-1">
        <MudText Typo="Typo.body2">@context.Label:</MudText>
        <MudChip T="bool"
                 Color="@(context.Value ? (context.DangerWhenTrue ? Color.Error : Color.Success) : Color.Default)"
                 Size="Size.Small">
            @(context.Value ? "ON" : "OFF")
        </MudChip>
    </MudStack>;
}