using RobotNet.VDA5050.Type;
using RobotNet10.RobotApp.Devices;

namespace RobotNet10.RobotApp.Services.Robot.Actions;

/// <summary>
/// Action homing camera (lift): gọi trực tiếp xuống động cơ CiA402 (giống device/hub).
/// blockingType NONE: gửi lệnh homing và kết thúc ngay, không chờ hoàn thành.
/// </summary>
[RobotAction(ActionType.HOMING_CAMERA,
            [ActionScope.INSTANT, ActionScope.NODE, ActionScope.EDGE],
            [BlockingType.NONE],
            "Homing camera (lift).",
            "Homing camera requested.")]
public class HomingCameraAction(IServiceProvider ServiceProvider) : RobotAction(ServiceProvider)
{
    protected override async Task StartAction()
    {
        try
        {
            var config = ServiceProvider.GetRequiredService<IConfiguration>();
            var deviceProvider = ServiceProvider.GetRequiredService<IDeviceProvider>();

            var deviceId = config.GetValue<string>("Modules:LiftModule:DeviceId") ?? "lift-motor";
            var enable = config.GetValue<bool>("Modules:LiftModule:Enable", true);
            if (!enable)
            {
                SetStatus(ActionEvent.FAILED);
                ResultDescription = "Lift module is disabled in config.";
                return;
            }

            var device = deviceProvider.GetDevice(deviceId);
            if (device is not ICiA402Servo servo)
            {
                SetStatus(ActionEvent.FAILED);
                ResultDescription = $"Device '{deviceId}' not found or is not ICiA402Servo.";
                return;
            }

            var homingMethod = config.GetValue<byte>("Modules:LiftModule:HomingMethod", 21);
            var homingSpeed = config.GetValue<int>("Modules:LiftModule:HomingSpeed", 30000);
            var homingOffset = config.GetValue<int>("Modules:LiftModule:HomingOffset", 0);

            // Giống device UI: bước 1 SetParam (Apply Params), bước 2 Start Homing
            Logger?.LogInformation("HomingCamera: SetParam (method={Method}, speed={Speed}, offset={Offset}) then Start Homing.", homingMethod, homingSpeed, homingOffset);
            await servo.SetHomingMethodAsync(homingMethod, CancellationToken.None);
            await servo.SetHomingSpeedAsync(homingSpeed, CancellationToken.None);
            await servo.SetHomingOffsetAsync(homingOffset, CancellationToken.None);
            await Task.Delay(100, CancellationToken.None); // delay giữa SetParam và Start như khi bấm trên device
            await servo.StartHomingAsync(homingMethod, homingSpeed, CancellationToken.None);

            SetStatus(ActionEvent.FINISHED);
            ResultDescription = "Homing camera requested (direct to drive).";
        }
        catch (Exception ex)
        {
            SetStatus(ActionEvent.FAILED);
            ResultDescription = $"Homing camera failed: {ex.Message}";
        }

        await base.StartAction();
    }
}