using NLog;
using RobotNet.VDA5050.Type;
using RobotNet10.RobotApp.Client.Pages;
using RobotNet10.RobotApp.Interfaces;
using RobotNet10.RobotApp.Modules;

namespace RobotNet10.RobotApp.Services.Robot.Actions;

[RobotAction(ActionType.PICK,
            [ActionScope.INSTANT, ActionScope.NODE, ActionScope.EDGE],
            [BlockingType.HARD],
            "Nâng cao pallet.",
            "Robot đã nâng cao pallet.")]
public class RobotPickAction(IServiceProvider ServiceProvider) : RobotAction(ServiceProvider)
{
    private const int MAX_TIMEOUT = 60000;
    private int CountTimeout = 0;
    private ILoad? LoadManager;
    private ILiftModule? LiftModule;
    private IPlcController? PlcController;
    private CancellationTokenSource CancellationToken = new();
    protected override async Task StartAction()
    {
        try
        {
            LoadManager = ServiceProvider.GetRequiredService<ILoad>();
            LiftModule = ServiceProvider.GetRequiredService<ILiftModule>();
            PlcController = ServiceProvider.GetRequiredService<IPlcController>();

            if (!LiftModule.IsReady)
            {
                SetStatus(ActionEvent.FAILED);
                ResultDescription = "Lift module not ready";
                return;
            }

            CancellationToken = new CancellationTokenSource();
            PlcController.SetOperationState(OperationState.Lifting);
            _ = LiftModule.LiftUpAsync(CancellationToken.Token);
            CountTimeout = 0;
            await base.StartAction();
        }
        catch (Exception ex)
        {
            SetStatus(ActionEvent.FAILED);
            ResultDescription = "Pick failed: " + ex.Message;
        }
    }

    protected override Task StopAction()
    {
        CancellationToken.Cancel();
        return base.StopAction();
    }

    protected override Task CleanupAction()
    {
        CancellationToken.Dispose();
        PlcController?.SetOperationState(OperationState.None);
        return base.CleanupAction();
    }

    protected override async Task ExecuteAction()
    {
        if (LiftModule is null)
        {
            SetStatus(ActionEvent.FAILED);
            ResultDescription = "Lift module not found";
        }
        else if (LiftModule.State == LiftModuleState.Error)
        {
            SetStatus(ActionEvent.FAILED);
            ResultDescription = "Lift module error";
        }
        else if (LiftModule.Position == LiftPosition.Top)
        {
            LoadManager?.AddLoad(new());
            SetStatus(ActionEvent.FINISHED);
            ResultDescription = string.IsNullOrEmpty(ActionAttribute.ResultDescription) ? "Robot has picked up the load." : ActionAttribute.ResultDescription;
        }
        else if (CountTimeout++ > MAX_TIMEOUT / ActionInterval)
        {
            CancellationToken.Cancel();
            SetStatus(ActionEvent.FAILED);
            ResultDescription = "Timeout action";
        }
        await base.ExecuteAction();
    }
}