using RobotNet10.FleetManager.Services.TrafficControl.Models;
using RobotNet10.GlobalPathPlanner.Model;

namespace RobotNet10.FleetManager.Services.TrafficControl.Services;

/// <summary>
/// Service for route planning
/// </summary>
public interface IRoutePlanningService
{
    /// <summary>
    /// Plan route for a robot from start to goal
    /// </summary>
    Task<RobotRoute?> PlanRouteAsync(
        string robotId,
        Guid startNodeId,
        Guid goalNodeId,
        CancellationToken cancellationToken = default);

    /// <summary>
    /// Plan route with optional constraints (angle, startDirection, finalDirection)
    /// </summary>
    Task<RobotRoute?> PlanRouteAsync(
        string robotId,
        Guid startNodeId,
        Guid goalNodeId,
        double? goalAngle,
        Orientation? startDirection,
        Orientation? finalDirection,
        CancellationToken cancellationToken = default);

    /// <summary>
    /// Plan route from current position (x, y, theta) to goal node
    /// </summary>
    Task<RobotRoute?> PlanRouteFromPositionAsync(
        string robotId,
        double x,
        double y,
        double theta,
        Guid goalNodeId,
        double? goalAngle,
        Orientation? startDirection,
        Orientation? finalDirection,
        CancellationToken cancellationToken = default);

    /// <summary>
    /// Plan route from current position (x, y, theta) to goal node
    /// </summary>
    Task<RobotRoute?> PlanRouteFromPositionACSTrafficAsync(
        string robotId,
        double x,
        double y,
        double theta,
        Guid goalNodeId,
        double? goalAngle,
        Orientation? startDirection,
        Orientation? finalDirection,
        CancellationToken cancellationToken = default);
}