using Microsoft.AspNetCore.Components;
using Microsoft.AspNetCore.SignalR.Client;
using RobotNet10.RobotApp.Client.Shared.Motion;

namespace RobotNet10.RobotApp.Client.Clients;

/// <summary>
/// SignalR client kết nối tới OdometryHub - hiển thị odom (pose + velocity) realtime
/// </summary>
public class OdometryHubClient : IAsyncDisposable
{
    private readonly HubConnection _hubConnection;
    private bool _disposed;

    /// <summary>
    /// Sự kiện nhận odometry mới (broadcast từ server ~10 Hz)
    /// </summary>
    public event Action<OdometryDto>? OdometryReceived;

    /// <summary>
    /// Trạng thái kết nối thay đổi
    /// </summary>
    public event Action<HubConnectionState>? ConnectionStateChanged;

    public bool IsConnected => _hubConnection.State == HubConnectionState.Connected;
    public HubConnectionState ConnectionState => _hubConnection.State;

    public OdometryHubClient(NavigationManager navigationManager)
    {
        var hubUrl = navigationManager.ToAbsoluteUri("/hubs/odometry");
        _hubConnection = new HubConnectionBuilder()
            .WithUrl(hubUrl)
            .WithAutomaticReconnect()
            .Build();

        _hubConnection.On<OdometryDto>("ReceiveOdometry", dto => OdometryReceived?.Invoke(dto));

        _hubConnection.Reconnecting += _ =>
        {
            ConnectionStateChanged?.Invoke(_hubConnection.State);
            return Task.CompletedTask;
        };
        _hubConnection.Reconnected += _ =>
        {
            ConnectionStateChanged?.Invoke(_hubConnection.State);
            return Task.CompletedTask;
        };
        _hubConnection.Closed += _ =>
        {
            ConnectionStateChanged?.Invoke(_hubConnection.State);
            return Task.CompletedTask;
        };
    }

    public async Task StartAsync()
    {
        if (_hubConnection.State == HubConnectionState.Disconnected)
        {
            await _hubConnection.StartAsync();
            ConnectionStateChanged?.Invoke(_hubConnection.State);
        }
    }

    public async Task StopAsync()
    {
        if (_hubConnection.State != HubConnectionState.Disconnected)
        {
            await _hubConnection.StopAsync();
            ConnectionStateChanged?.Invoke(_hubConnection.State);
        }
    }

    /// <summary>
    /// Lấy odometry hiện tại (on-demand)
    /// </summary>
    public async Task<OdometryDto?> GetCurrentOdometryAsync()
    {
        return await _hubConnection.InvokeAsync<OdometryDto?>("GetCurrentOdometry");
    }

    public async ValueTask DisposeAsync()
    {
        if (_disposed)
            return;
        _disposed = true;
        await StopAsync();
        await _hubConnection.DisposeAsync();
        GC.SuppressFinalize(this);
    }
}