using RobotNet10.FleetManager.Shared.Enums;

namespace RobotNet10.FleetManager.Services.TrafficControl.Models;

/// <summary>
/// Configuration for TrafficControl service
/// </summary>
public class TrafficControlConfig
{
    /// <summary>
    /// Conflict detection configuration
    /// </summary>
    public ConflictDetectionConfig ConflictDetection { get; set; } = new();

    /// <summary>
    /// Base/Horizon management configuration
    /// </summary>
    public BaseHorizonConfig BaseHorizon { get; set; } = new();

    /// <summary>
    /// Conflict resolution configuration
    /// </summary>
    public ConflictResolutionConfig ConflictResolution { get; set; } = new();

    /// <summary>
    /// Priority configuration
    /// </summary>
    public PriorityConfig Priority { get; set; } = new();

    /// <summary>
    /// Path planning configuration
    /// </summary>
    public PathPlanningConfig PathPlanning { get; set; } = new();
}

/// <summary>
/// Conflict detection configuration
/// </summary>
public class ConflictDetectionConfig
{
    /// <summary>
    /// Detection interval in milliseconds (default: 500ms = 2 Hz)
    /// </summary>
    public int IntervalMs { get; set; } = 500;

    /// <summary>
    /// Vertex conflict threshold in meters (default: 2.0m)
    /// </summary>
    public double VertexConflictThreshold { get; set; } = 2.0;

    /// <summary>
    /// Minimum safe distance for proximity conflict in meters (default: 1.0m)
    /// </summary>
    public double ProximityMinDistance { get; set; } = 1.0;

    /// <summary>
    /// Time conflict threshold in seconds (default: 5.0s)
    /// </summary>
    public double TimeConflictThreshold { get; set; } = 5.0;

    /// <summary>
    /// Rotation space radius in meters (default: 0.5m)
    /// </summary>
    public double RotationSpaceRadius { get; set; } = 0.5;

    /// <summary>
    /// Corridor width threshold in meters (default: 2.0m)
    /// </summary>
    public double CorridorWidthThreshold { get; set; } = 2.0;
}

/// <summary>
/// Base/Horizon management configuration
/// </summary>
public class BaseHorizonConfig
{
    /// <summary>
    /// Initial number of base segments (default: 2)
    /// </summary>
    public int InitialBaseSegments { get; set; } = 2;

    /// <summary>
    /// Number of segments to release ahead (default: 2)
    /// </summary>
    public int ReleaseAheadSegments { get; set; } = 2;

    /// <summary>
    /// Minimum number of horizon segments to keep (default: 1)
    /// </summary>
    public int MinHorizonSegments { get; set; } = 1;
}

/// <summary>
/// Conflict resolution configuration
/// </summary>
public class ConflictResolutionConfig
{
    /// <summary>
    /// Maximum wait time at node in seconds (default: 5.0s)
    /// </summary>
    public double WaitTimeAtNode { get; set; } = 5.0;

    /// <summary>
    /// Whether to allow reroute on conflict (default: true)
    /// </summary>
    public bool RerouteOnConflict { get; set; } = true;

    /// <summary>
    /// Maximum reroute attempts for one conflict (default: 3)
    /// </summary>
    public int MaxRerouteAttempts { get; set; } = 3;

    /// <summary>
    /// Enable resolution optimization (default: true)
    /// </summary>
    public bool ResolutionOptimization { get; set; } = true;

    /// <summary>
    /// Maximum simulation depth for resolution evaluation (default: 2)
    /// </summary>
    public int MaxResolutionSimulationDepth { get; set; } = 2;
}

/// <summary>
/// Priority configuration
/// </summary>
public class PriorityConfig
{
    /// <summary>
    /// Default priority level (default: 0)
    /// </summary>
    public int DefaultPriority { get; set; } = 0;

    /// <summary>
    /// Emergency priority level (default: 100)
    /// </summary>
    public int EmergencyPriority { get; set; } = 100;

    /// <summary>
    /// High value order priority level (default: 50)
    /// </summary>
    public int HighValueOrderPriority { get; set; } = 50;

    /// <summary>
    /// Time critical priority level (default: 30)
    /// </summary>
    public int TimeCriticalPriority { get; set; } = 30;
}

/// <summary>
/// Path planning configuration
/// </summary>
public class PathPlanningConfig
{
    /// <summary>
    /// Mapping from NavigationType to PathPlanningMethod
    /// Defines which IPathPlanner method to use for each NavigationType
    /// </summary>
    public Dictionary<NavigationType, PathPlanningMethod> NavigationTypeMethodMapping { get; set; } = new()
    {
        // Default mappings
        { NavigationType.Differential, PathPlanningMethod.Basic },
        { NavigationType.Forklift, PathPlanningMethod.Basic },
        { NavigationType.OmniDrive, PathPlanningMethod.Basic }
    };

    /// <summary>
    /// Default path planning method if NavigationType is not found in mapping (default: Basic)
    /// </summary>
    public PathPlanningMethod DefaultMethod { get; set; } = PathPlanningMethod.Basic;
}