using Microsoft.AspNetCore.Mvc;
using Microsoft.Extensions.Logging;
using RobotNet10.NavigationTune.Execution;

namespace RobotNet10.NavigationTune.Controllers;

/// <summary>
/// REST API controller for manual velocity control
/// </summary>
[ApiController]
[Route("api/[controller]")]
public class VelocityControlController(
    IVelocityProvider? velocityProvider,
    ILogger<VelocityControlController> logger) : ControllerBase
{
    private readonly IVelocityProvider? _velocityProvider = velocityProvider;
    private readonly ILogger<VelocityControlController> _logger = logger;

    /// <summary>
    /// Set manual velocity command
    /// </summary>
    [HttpPost("set-velocity")]
    public ActionResult SetVelocity([FromBody] VelocityCommandRequest request)
    {
        try
        {
            if (_velocityProvider == null)
            {
                return BadRequest(new { error = "Velocity provider is not available. Robot connection required." });
            }

            _velocityProvider.SetVelocity(request.LinearVelocity, request.AngularVelocity);
            return Ok(new { message = "Velocity command sent", linear = request.LinearVelocity, angular = request.AngularVelocity });
        }
        catch (Exception ex)
        {
            _logger.LogError(ex, "Error setting velocity");
            return StatusCode(500, new { error = "Failed to set velocity", details = ex.Message });
        }
    }

    /// <summary>
    /// Stop all velocities (set to zero)
    /// </summary>
    [HttpPost("stop")]
    public ActionResult Stop()
    {
        try
        {
            if (_velocityProvider == null)
            {
                return BadRequest(new { error = "Velocity provider is not available. Robot connection required." });
            }

            _velocityProvider.SetVelocity(0, 0);
            return Ok(new { message = "All velocities stopped" });
        }
        catch (Exception ex)
        {
            _logger.LogError(ex, "Error stopping velocity");
            return StatusCode(500, new { error = "Failed to stop velocity", details = ex.Message });
        }
    }

    /// <summary>
    /// Get current velocity
    /// </summary>
    [HttpGet("current")]
    public ActionResult GetCurrentVelocity()
    {
        try
        {
            if (_velocityProvider == null)
            {
                return BadRequest(new { error = "Velocity provider is not available. Robot connection required." });
            }

            var (linear, angular) = _velocityProvider.GetActualVelocity();
            return Ok(new { linear, angular });
        }
        catch (Exception ex)
        {
            _logger.LogError(ex, "Error getting current velocity");
            return StatusCode(500, new { error = "Failed to get current velocity", details = ex.Message });
        }
    }
}

/// <summary>
/// Request model for velocity command
/// </summary>
public class VelocityCommandRequest
{
    public double LinearVelocity { get; set; }
    public double AngularVelocity { get; set; }
}