using Microsoft.AspNetCore.Mvc;
using Microsoft.Extensions.Logging;
using RobotNet10.NavigationTune.Shared.Interfaces;
using RobotNet10.NavigationTune.Shared.Models;

namespace RobotNet10.NavigationTune.Controllers;

/// <summary>
/// REST API controller for parameter sets management
/// </summary>
[ApiController]
[Route("api/[controller]")]
public class ParameterSetsController(
    IParameterManager parameterManager,
    ILogger<ParameterSetsController> logger) : ControllerBase
{

    /// <summary>
    /// Get all parameter sets
    /// </summary>
    [HttpGet]
    public async Task<ActionResult<List<NavigationParameterSet>>> GetAll()
    {
        try
        {
            var parameterSets = await parameterManager.GetAllAsync();
            return Ok(parameterSets);
        }
        catch (Exception ex)
        {
            logger.LogError(ex, "Error getting all parameter sets");
            return StatusCode(500, new { error = "Failed to retrieve parameter sets" });
        }
    }

    /// <summary>
    /// Get parameter set by ID
    /// </summary>
    [HttpGet("{id:guid}")]
    public async Task<ActionResult<NavigationParameterSet>> GetById(Guid id)
    {
        try
        {
            var parameterSet = await parameterManager.GetByIdAsync(id);
            if (parameterSet == null)
                return NotFound(new { error = $"Parameter set with ID {id} not found" });

            return Ok(parameterSet);
        }
        catch (Exception ex)
        {
            logger.LogError(ex, "Error getting parameter set {Id}", id);
            return StatusCode(500, new { error = "Failed to retrieve parameter set" });
        }
    }

    /// <summary>
    /// Get parameter set by name
    /// </summary>
    [HttpGet("name/{name}")]
    public async Task<ActionResult<NavigationParameterSet>> GetByName(string name)
    {
        try
        {
            var parameterSet = await parameterManager.GetByNameAsync(name);
            if (parameterSet == null)
                return NotFound(new { error = $"Parameter set with name '{name}' not found" });

            return Ok(parameterSet);
        }
        catch (Exception ex)
        {
            logger.LogError(ex, "Error getting parameter set {Name}", name);
            return StatusCode(500, new { error = "Failed to retrieve parameter set" });
        }
    }

    /// <summary>
    /// Create new parameter set
    /// </summary>
    [HttpPost]
    public async Task<ActionResult<NavigationParameterSet>> Create([FromBody] NavigationParameterSet parameterSet)
    {
        try
        {
            // Validate
            if(await parameterManager.GetByNameAsync(parameterSet.Name) is not null) return StatusCode(500, new { error = "Paramter name is existed" });
            var validation = parameterManager.Validate(parameterSet);
            if (!validation.IsValid)
            {
                return BadRequest(new
                {
                    error = "Validation failed",
                    errors = validation.Errors,
                    warnings = validation.Warnings
                });
            }

            var id = await parameterManager.SaveAsync(parameterSet);
            var created = await parameterManager.GetByIdAsync(id);
            return CreatedAtAction(nameof(GetById), new { id }, created);
        }
        catch (Exception ex)
        {
            logger.LogError(ex, "Error creating parameter set");
            return StatusCode(500, new { error = "Failed to create parameter set" });
        }
    }

    /// <summary>
    /// Update existing parameter set
    /// </summary>
    [HttpPut("{id}")]
    public async Task<ActionResult> Update(Guid id, [FromBody] NavigationParameterSet parameterSet)
    {
        try
        {
            var existing = await parameterManager.GetByIdAsync(id);
            if (existing == null)
                return NotFound(new { error = $"Parameter set with ID {id} not found" });

            // Validate
            var validation = parameterManager.Validate(parameterSet);
            if (!validation.IsValid)
            {
                return BadRequest(new
                {
                    error = "Validation failed",
                    errors = validation.Errors,
                    warnings = validation.Warnings
                });
            }
            existing.ControllerType = parameterSet.ControllerType;
            existing.PurePursuitConfig = parameterSet.PurePursuitConfig;
            existing.StanleyConfig = parameterSet.StanleyConfig ?? new StanleyConfig();
            existing.EstimatorConfig = parameterSet.EstimatorConfig;
            existing.NavigationConfig = parameterSet.NavigationConfig;
            existing.MovePidConfig = parameterSet.MovePidConfig;
            existing.RotatePidConfig = parameterSet.RotatePidConfig;
            existing.SignalConfig = parameterSet.SignalConfig;
            existing.MotorDynamicsConfig = parameterSet.MotorDynamicsConfig;
            await parameterManager.UpdateAsync(existing);
            return NoContent();
        }
        catch (Exception ex)
        {
            logger.LogError(ex, "Error updating parameter set {Id}", id);
            return StatusCode(500, new { error = "Failed to update parameter set" });
        }
    }

    /// <summary>
    /// Delete parameter set
    /// </summary>
    [HttpDelete("{id}")]
    public async Task<ActionResult> Delete(Guid id)
    {
        try
        {
            var existing = await parameterManager.GetByIdAsync(id);
            if (existing == null)
                return NotFound(new { error = $"Parameter set with ID {id} not found" });

            await parameterManager.DeleteAsync(id);
            return NoContent();
        }
        catch (Exception ex)
        {
            logger.LogError(ex, "Error deleting parameter set {Id}", id);
            return StatusCode(500, new { error = "Failed to delete parameter set" });
        }
    }

    /// <summary>
    /// Validate parameter set
    /// </summary>
    [HttpPost("validate")]
    public ActionResult<ValidationResult> Validate([FromBody] NavigationParameterSet parameterSet)
    {
        try
        {
            var validation = parameterManager.Validate(parameterSet);
            return Ok(validation);
        }
        catch (Exception ex)
        {
            logger.LogError(ex, "Error validating parameter set");
            return StatusCode(500, new { error = "Failed to validate parameter set" });
        }
    }

    /// <summary>
    /// Get default preset
    /// </summary>
    [HttpGet("presets/default")]
    public ActionResult<NavigationParameterSet> GetDefaultPreset()
    {
        try
        {
            var preset = parameterManager.GetDefaultPreset();
            return Ok(preset);
        }
        catch (Exception ex)
        {
            logger.LogError(ex, "Error getting default preset");
            return StatusCode(500, new { error = "Failed to get default preset" });
        }
    }

    /// <summary>
    /// Get aggressive preset
    /// </summary>
    [HttpGet("presets/aggressive")]
    public ActionResult<NavigationParameterSet> GetAggressivePreset()
    {
        try
        {
            var preset = parameterManager.GetAggressivePreset();
            return Ok(preset);
        }
        catch (Exception ex)
        {
            logger.LogError(ex, "Error getting aggressive preset");
            return StatusCode(500, new { error = "Failed to get aggressive preset" });
        }
    }

    /// <summary>
    /// Get smooth preset
    /// </summary>
    [HttpGet("presets/smooth")]
    public ActionResult<NavigationParameterSet> GetSmoothPreset()
    {
        try
        {
            var preset = parameterManager.GetSmoothPreset();
            return Ok(preset);
        }
        catch (Exception ex)
        {
            logger.LogError(ex, "Error getting smooth preset");
            return StatusCode(500, new { error = "Failed to get smooth preset" });
        }
    }
}