using System.ComponentModel.DataAnnotations;
using System.ComponentModel.DataAnnotations.Schema;

namespace RobotNet10.MapManager.Data;

/// <summary>
/// Node vehicle property - Vehicle-specific properties for nodes
/// Maps to VDMA LIF: node.vehicleTypeNodeProperties[]
/// </summary>
[Table("NodeVehicleProperties")]
public class NodeVehicleProperty
{
    [Key]
    [DatabaseGenerated(DatabaseGeneratedOption.Identity)]
    public Guid Id { get; set; }

    /// <summary>
    /// Node reference
    /// </summary>
    [Required]
    public Guid NodeId { get; set; }

    /// <summary>
    /// Vehicle type reference
    /// </summary>
    [Required]
    public Guid VehicleTypeId { get; set; }

    /// <summary>
    /// Absolute orientation of vehicle on node (VDMA LIF: theta) - Optional
    /// In radians, range: [-Pi ... Pi]
    /// </summary>
    public double? Theta { get; set; }

    /// <summary>
    /// Actions that vehicle can perform at this node (VDMA LIF: actions) - Optional
    /// JSON array format:
    /// [
    ///   {
    ///     "actionType": "pick",
    ///     "actionDescription": "...",
    ///     "requirementType": "REQUIRED",
    ///     "blockingType": "HARD",
    ///     "actionParameters": [{"key": "...", "value": "..."}]
    ///   }
    /// ]
    /// </summary>
    public string? Actions { get; set; }

    /// <summary>
    /// Allowed deviation radius in meters (VDA5050: allowedDeviationXY) - Optional
    /// Indicates how exact an AGV has to drive over a node in order for it to count as traversed.
    /// If = 0: no deviation is allowed (no deviation means within the normal tolerance of the AGV manufacturer).
    /// If > 0: allowed deviation-radius in meters. If the AGV passes a node within the deviation-radius, the node is considered to have been traversed.
    /// Minimum: 0
    /// </summary>
    public double? AllowedDeviationXY { get; set; }

    /// <summary>
    /// Allowed deviation of theta angle in radians (VDA5050: allowedDeviationTheta) - Optional
    /// Indicates how big the deviation of theta angle can be.
    /// The lowest acceptable angle is theta - allowedDeviationTheta and the highest acceptable angle is theta + allowedDeviationTheta.
    /// Range: [0.0 ... 3.141592654] (0 to Pi)
    /// </summary>
    public double? AllowedDeviationTheta { get; set; }

    // Navigation properties
    [ForeignKey(nameof(NodeId))]
    public virtual Node Node { get; set; } = null!;

    [ForeignKey(nameof(VehicleTypeId))]
    public virtual VehicleType VehicleType { get; set; } = null!;
}