using MudBlazor.Extensions;
using RobotNet.VDA5050.Factsheet;
using RobotNet.VDA5050.Type;
using RobotNet10.RobotApp.Interfaces;
using RobotNet10.RobotApp.Services.Exceptions;
using System.Collections.ObjectModel;

namespace RobotNet10.RobotApp.Services.Robot.Actions;

[RobotAction(ActionType.ROTATE,
            [ActionScope.INSTANT, ActionScope.NODE, ActionScope.EDGE],
            [BlockingType.HARD],
            "Xoay robot tại chỗ.",
            "Robot đã xoay tại chỗ.")]
public class RobotRotateAction(IServiceProvider ServiceProvider) : RobotAction(ServiceProvider)
{
    private static readonly ReadOnlyCollection<ActionParameter> ActionParameters = new List<ActionParameter>
    {
        new()
            {
                Key = "angle",
                Description = "Góc xoay của robot. (rad)",
                ValueDataType = ValueDataType.FLOAT,
                IsOptional = false,
            }
    }.AsReadOnly();

    private double Angle = 0;
    private INavigation? RobotNavigation;
    private ILocalization? Localization;

    private const int MAX_TIMEOUT = 60000 * 2;
    private int CountTimeout = 0;
    protected override Task StartAction()
    {
        RobotNavigation = ServiceProvider.GetRequiredService<INavigation>();
        Localization = ServiceProvider.GetRequiredService<ILocalization>();
        RobotNavigation.Rotate(Angle);
        CountTimeout = 0;
        return base.StartAction();
    }

    protected override Task StopAction()
    {
        RobotNavigation?.CancelMovement();
        return base.StopAction();
    }

    protected override Task ExecuteAction()
    {
        if (RobotNavigation is null)
        {
            SetStatus(ActionEvent.FAILED);
            ResultDescription = "Module Navigation is not existed";
        }
        else if (RobotNavigation.State == NavigationState.Completed && Localization is not null && Math.Abs(Localization.Theta - Angle) * 180 / Math.PI < 5)
        {
            SetStatus(ActionEvent.FINISHED);
            ResultDescription = string.IsNullOrEmpty(ActionAttribute.ResultDescription) ? ResultDescription : ActionAttribute.ResultDescription;
        }
        else if (RobotNavigation.State == NavigationState.Error)
        {
            SetStatus(ActionEvent.FAILED);
            ResultDescription = $"Action Handle [{Type} - {Id}] - angle: {Angle} is failed";
        }
        else if (CountTimeout++ > MAX_TIMEOUT / ActionInterval)
        {
            RobotNavigation?.CancelMovement();
            SetStatus(ActionEvent.FAILED);
            ResultDescription = "Timeout action";
        }
        return base.ExecuteAction();
    }

    protected override void Initialize()
    {
        base.Initialize();

        if (ActionParameters.Count > 0)
        {
            foreach (var parameterStore in ActionParameters)
            {
                if (!parameterStore.IsOptional)
                {
                    if (Action is null || Action.ActionParameters is null || !Action.ActionParameters.Any(a => a.Key == parameterStore.Key)) throw new ActionException($"Thiếu tham số bắt buộc '{parameterStore.Key}' cho action {Type}.");
                }
            }
            Parameters = Action is null || Action.ActionParameters is null ? [] : Action.ActionParameters;
        }

        var anglePara = Parameters.FirstOrDefault(p => p.Key == "angle") ?? throw new ActionException($"Action {Type} không tìm thấy parameter key 'angle'");
        var angleParse = double.TryParse(anglePara.Value, out double angleData);
        if (!angleParse) throw new ActionException($"Action {Type} có parameter 'angle' không đúng kiểu dữ liệu");
        Angle = angleData;
    }
}