using RobotNet10.CANOpen.Enums;
using RobotNet10.CANOpen.Models;
using RobotNet10.CANOpen.Services;

namespace RobotNet10.CANOpen.Interfaces;

public interface ICanOpenDevice
{
    byte NodeId { get; }
    NmtState State { get; }
    
    /// <summary>
    /// PDO Manager để quản lý PDOs
    /// </summary>
    PdoManager Pdo { get; }
    
    // Events
    event EventHandler<PdoReceivedEventArgs>? PdoReceived;
    event EventHandler<EmergencyReceivedEventArgs>? EmergencyReceived;
    event EventHandler<HeartbeatReceivedEventArgs>? HeartbeatReceived;
    event EventHandler<HeartbeatTimeoutEventArgs>? HeartbeatTimeout;
    
    // SDO Operations
    Task<byte[]> ReadObjectAsync(ushort index, byte subIndex, CancellationToken cancellationToken = default);
    Task WriteObjectAsync(ushort index, byte subIndex, byte[] data, CancellationToken cancellationToken = default);
    
    // Helper methods for reading
    Task<byte> ReadUInt8Async(ushort index, byte subIndex, CancellationToken cancellationToken = default);
    Task<ushort> ReadUInt16Async(ushort index, byte subIndex, CancellationToken cancellationToken = default);
    Task<uint> ReadUInt32Async(ushort index, byte subIndex, CancellationToken cancellationToken = default);
    Task<short> ReadInt16Async(ushort index, byte subIndex, CancellationToken cancellationToken = default);
    Task<int> ReadInt32Async(ushort index, byte subIndex, CancellationToken cancellationToken = default);
    
    // Helper methods for writing
    Task WriteUInt8Async(ushort index, byte subIndex, byte value, CancellationToken cancellationToken = default);
    Task WriteUInt16Async(ushort index, byte subIndex, ushort value, CancellationToken cancellationToken = default);
    Task WriteUInt32Async(ushort index, byte subIndex, uint value, CancellationToken cancellationToken = default);
    Task WriteInt16Async(ushort index, byte subIndex, short value, CancellationToken cancellationToken = default);
    Task WriteInt32Async(ushort index, byte subIndex, int value, CancellationToken cancellationToken = default);
    
    // NMT Operations
    Task SendNmtCommandAsync(NmtCommand command, CancellationToken cancellationToken = default);
    Task StartNodeAsync(CancellationToken cancellationToken = default);
    Task StopNodeAsync(CancellationToken cancellationToken = default);
    Task ResetNodeAsync(CancellationToken cancellationToken = default);
    Task ResetCommunicationAsync(CancellationToken cancellationToken = default);
    
    // PDO Configuration Operations
    /// <summary>
    /// Ghi PDO configuration xuống device
    /// Device phải ở PreOperational state trước khi gọi method này
    /// </summary>
    Task WritePdoConfigurationToDeviceAsync(bool isTpdo, byte pdoNumber, CancellationToken cancellationToken = default);
    
    /// <summary>
    /// Ghi tất cả PDO configurations xuống device
    /// Device phải ở PreOperational state trước khi gọi method này
    /// </summary>
    /// <param name="edsFilePath">Đường dẫn đến EDS file (optional, để check PDO support trước khi configure)</param>
    /// <param name="cancellationToken">Cancellation token</param>
    Task WriteAllPdoConfigurationsToDeviceAsync(string? edsFilePath = null, CancellationToken cancellationToken = default);
}

public interface ICanBus : IDisposable
{
    string InterfaceName { get; }
    bool IsConnected { get; }
    
    Task ConnectAsync(CancellationToken cancellationToken = default);
    Task DisconnectAsync(CancellationToken cancellationToken = default);
    Task SendFrameAsync(uint canId, byte[] data, CancellationToken cancellationToken = default);
    
    event EventHandler<CanFrameReceivedEventArgs>? FrameReceived;
}

public class CanFrameReceivedEventArgs(uint canId, byte[] data, DateTime timestamp) : EventArgs
{
    public uint CanId { get; init; } = canId;
    public byte[] Data { get; init; } = data;
    public DateTime Timestamp { get; init; } = timestamp;
}