using RobotNet10.FleetManager.Script;
using RobotNet10.FleetManager.Services.RobotManager;
using RobotNet10.FleetManager.Services.TrafficControl;
using System.Linq.Expressions;

namespace RobotNet10.FleetManager.Services.Script;

public class ScriptRobotmanager(IRobotManagerService RobotManager, IServiceScopeFactory ScopeFactory, IOrderControlService OrderControlService) : IRobotManager
{
    public async Task<IRobot?> GetRobotById(string robotId)
    {
        using var scope = ScopeFactory.CreateScope();
        var _robotService = scope.ServiceProvider.GetRequiredService<IRobotService>();
        var robotDb = await _robotService.GetByRobotIdAsync(robotId);
        if (robotDb is null) return null;
        var robotController = RobotManager.GetRobotController(robotId);
        if (robotController is null) return null;
        return new ScriptRobot(robotDb.RobotId, robotDb.Name, robotDb.ModelId, robotDb.MapId, robotController);
    }

    public Task<RobotOrderStatus> GetRobotOrderStatus(string robotId)
    {
        var orderStatus = OrderControlService.GetRobotOrderStatus(robotId);
        return orderStatus switch
        {
            OrderStatus.IsError => Task.FromResult(RobotOrderStatus.IsError),
            OrderStatus.IsCompleted => Task.FromResult(RobotOrderStatus.IsCompleted),
            OrderStatus.IsProccessing => Task.FromResult(RobotOrderStatus.IsProccessing),
            OrderStatus.IsCanceled => Task.FromResult(RobotOrderStatus.IsCanceled),
            _ => Task.FromResult(RobotOrderStatus.Empty),
        };
    }

    public Task<RobotState?> GetRobotState(string robotId)
    {
        var robotController = RobotManager.GetRobotController(robotId);
        if (robotController is null || robotController.Data is null || robotController.Data.State is null || robotController.Data.Visualization is null) return Task.FromResult<RobotState?>(null);
        return Task.FromResult<RobotState?>(new RobotState(robotController.IsReady,
                                                            robotController.Data.State.BatteryState.BatteryVoltage ?? 0,
                                                            robotController.Data.State.Loads,
                                                            robotController.Data.State.BatteryState.Charging,
                                                            robotController.Data.Visualization.AgvPosition.X,
                                                            robotController.Data.Visualization.AgvPosition.Y,
                                                            robotController.Data.Visualization.AgvPosition.Theta));
    }

    public async Task<IEnumerable<string>> SearchRobots(string layout, string version, string level, string model)
        => await RobotManager.GetAvailableRobots(layout, version, level, model, state => true);

    public async Task<IEnumerable<string>> SearchRobots(string layout, string version, string level, string model, Expression<Func<RobotState, bool>> expr)
        => await RobotManager.GetAvailableRobots(layout, version, level, model, expr.Compile());

}