@using RobotNet10.RobotApp.Client.Clients
@using RobotNet10.RobotApp.Client.Shared.Modules
@using MudBlazor

<MudPaper Class="pa-4" Style="height: 100%;">
    <MudStack Spacing="3">
        <MudStack Row="true" Justify="Justify.SpaceBetween" AlignItems="AlignItems.Center">
            <MudText Typo="Typo.h5">Lift Module</MudText>
            <MudIconButton Icon="@Icons.Material.Filled.Refresh"
                          Color="Color.Primary"
                          Size="Size.Small"
                          OnClick="RefreshStatus"
                          Disabled="@(!IsHubReady || isLoading)" />
        </MudStack>

        @* Lift Status Information *@
        @if (liftStatus != null)
        {
            <MudCard>
                <MudCardContent>
                    <MudText Typo="Typo.h6" Class="mb-3">Module Status</MudText>
                    <MudStack Spacing="2">
                        <MudStack Row="true" Justify="Justify.SpaceBetween">
                            <MudText>State:</MudText>
                            <MudChip T="string" Color="@GetStateColor(liftStatus.State)" Size="Size.Small">
                                @liftStatus.State
                            </MudChip>
                        </MudStack>
                        <MudStack Row="true" Justify="Justify.SpaceBetween">
                            <MudText>Ready:</MudText>
                            <MudChip T="bool" Color="@(liftStatus.IsReady ? Color.Success : Color.Default)" Size="Size.Small">
                                @liftStatus.IsReady
                            </MudChip>
                        </MudStack>
                        <MudStack Row="true" Justify="Justify.SpaceBetween">
                            <MudText>Current Position:</MudText>
                            <MudText>
                                @($"{liftStatus.CurrentPosition:N0} counts")
                                (@($"{ConvertCountsToMeters(liftStatus.CurrentPosition):F3} m"))
                            </MudText>
                        </MudStack>
                    </MudStack>
                </MudCardContent>
            </MudCard>
        }

        @* Lift Control Buttons *@
        <MudStack Spacing="3">
            <MudText Typo="Typo.h6">Homing & Movement Controls</MudText>

            <MudStack Row="true" Spacing="3" AlignItems="AlignItems.Center">
                <MudButton Variant="Variant.Filled"
                          Color="Color.Primary"
                          OnClick="LiftHome"
                          Disabled="@(isLoading || !IsHubReady)">
                    <MudIcon Icon="@Icons.Material.Filled.HomeRepairService" Class="mr-2" />
                    <MudText>Homing</MudText>
                </MudButton>
            </MudStack>

            <MudStack Row="true" Spacing="3" AlignItems="@AlignItems.Center">
                <MudButton Variant="Variant.Filled"
                          Color="Color.Success"
                          OnClick="LiftUp"
                          Disabled="@(isLoading || !IsHubReady || liftStatus?.IsReady != true)">
                    <MudIcon Icon="@Icons.Material.Filled.ArrowUpward" Class="mr-2" />
                    <MudText>Up</MudText>
                </MudButton>

                <MudButton Variant="Variant.Filled"
                          Color="Color.Error"
                          OnClick="LiftDown"
                          Disabled="@(isLoading || !IsHubReady || liftStatus?.IsReady != true)">
                    <MudIcon Icon="@Icons.Material.Filled.ArrowDownward" Class="mr-2" />
                    <MudText>Down</MudText>
                </MudButton>

                <MudButton Variant="Variant.Filled"
                          Color="Color.Warning"
                          OnClick="LiftStop"
                          Disabled="@(!IsHubReady || liftStatus?.IsReady != true || liftStatus?.State != "Moving")">
                    <MudIcon Icon="@Icons.Material.Filled.Stop" Class="mr-2" />
                    <MudText>Stop</MudText>
                </MudButton>
            </MudStack>

            <MudStack Row="true" Spacing="3" AlignItems="@AlignItems.Center">
                <MudNumericField @bind-Value="targetHeightMeters"
                                     Label="Target Height (m)"
                                     Variant="Variant.Outlined"
                                     Min="0"
                                     Class="flex-grow-1" />
                <MudButton Variant="Variant.Filled"
                          Color="Color.Primary"
                          OnClick="MoveToPosition"
                          Disabled="@(isLoading || !IsHubReady || liftStatus?.IsReady != true)">
                    <MudIcon Icon="@Icons.Material.Filled.LocationOn" Class="mr-2" />
                    <MudText>Go</MudText>
                </MudButton>
            </MudStack>
            <MudText Typo="Typo.caption">
                Scale: 10,000 counts = 0.01 m (1,000,000 counts = 1 m)
            </MudText>
        </MudStack>
    </MudStack>
</MudPaper>

@code {
    [Parameter, EditorRequired] public MotionHubClient HubClient { get; set; } = null!;
    [Parameter] public bool IsHubReady { get; set; }
    [Inject] private ISnackbar Snackbar { get; set; } = null!;
    [Inject] private CiA402ServoHubClient ServoHubClient { get; set; } = null!;

    private LiftModuleStatusDto? liftStatus;
    private bool isLoading = false;
    private double targetHeightMeters = 0.0;
    private bool _previousIsHubReady = false;

    protected override async Task OnParametersSetAsync()
    {
        // Detect when IsHubReady changes from false to true
        if (IsHubReady && !_previousIsHubReady)
        {
            await RefreshStatus();
        }
        _previousIsHubReady = IsHubReady;

        // Đảm bảo kết nối tới CiA402ServoHub để homing trực tiếp
        if (!ServoHubClient.IsConnected)
        {
            try
            {
                await ServoHubClient.StartAsync();
            }
            catch
            {
                // Nếu connect lỗi, homing sẽ báo lỗi qua Snackbar
            }
        }
    }

    public async Task RefreshStatus()
    {
        if (isLoading || !IsHubReady) return;

        try
        {
            isLoading = true;
            liftStatus = await HubClient.GetLiftStatusAsync();
            if (liftStatus != null)
            {
                targetHeightMeters = ConvertCountsToMeters(liftStatus.CurrentPosition);
            }
            StateHasChanged();
        }
        catch (Exception ex)
        {
            Snackbar.Add($"Error refreshing lift status: {ex.Message}", Severity.Error);
        }
        finally
        {
            isLoading = false;
        }
    }

    private Color GetStateColor(string state)
    {
        return state switch
        {
            "Ready" => Color.Success,
            "Moving" => Color.Info,
            "Error" => Color.Error,
            "Homing" => Color.Warning,
            "Initializing" => Color.Warning,
            _ => Color.Default
        };
    }

    private async Task LiftUp()
    {
        if (!IsHubReady || isLoading || liftStatus?.IsReady != true)
            return;

        try
        {
            isLoading = true;
            Snackbar.Add("Lifting up...", Severity.Info);

            await HubClient.LiftUpAsync();

            Snackbar.Add("Lift up command sent successfully", Severity.Success);

            await Task.Delay(500);
            await RefreshStatus();
        }
        catch (Exception ex)
        {
            Snackbar.Add($"Error lifting up: {ex.Message}", Severity.Error);
        }
        finally
        {
            isLoading = false;
            StateHasChanged();
        }
    }

    private async Task LiftDown()
    {
        if (!IsHubReady || isLoading || liftStatus?.IsReady != true)
            return;

        try
        {
            isLoading = true;
            Snackbar.Add("Lifting down...", Severity.Info);

            await HubClient.LiftDownAsync();

            Snackbar.Add("Lift down command sent successfully", Severity.Success);

            await Task.Delay(500);
            await RefreshStatus();
        }
        catch (Exception ex)
        {
            Snackbar.Add($"Error lifting down: {ex.Message}", Severity.Error);
        }
        finally
        {
            isLoading = false;
            StateHasChanged();
        }
    }

    private async Task LiftStop()
    {
        if (!IsHubReady || liftStatus?.IsReady != true)
            return;

        try
        {
            await HubClient.LiftStopAsync();
            Snackbar.Add("Lift stop command sent", Severity.Info);
            await Task.Delay(300);
            await RefreshStatus();
        }
        catch (Exception ex)
        {
            Snackbar.Add($"Error stopping lift: {ex.Message}", Severity.Error);
        }
        finally
        {
            StateHasChanged();
        }
    }

    private async Task MoveToPosition()
    {
        if (!IsHubReady || isLoading || liftStatus?.IsReady != true)
            return;

        try
        {
            isLoading = true;
            var targetCounts = ConvertMetersToCounts(targetHeightMeters);
            Snackbar.Add($"Moving to height {targetHeightMeters:F3} m (~{targetCounts} counts)...", Severity.Info);

            await HubClient.LiftToPositionAsync(targetCounts);

            Snackbar.Add($"Move to height {targetHeightMeters:F3} m command sent successfully", Severity.Success);

            await Task.Delay(500);
            await RefreshStatus();
        }
        catch (Exception ex)
        {
            Snackbar.Add($"Error moving to position: {ex.Message}", Severity.Error);
        }
        finally
        {
            isLoading = false;
            StateHasChanged();
        }
    }

    private async Task LiftHome()
    {
        if (isLoading)
            return;

        try
        {
            isLoading = true;
            Snackbar.Add("Starting lift homing (direct device)...", Severity.Info);

            const string liftDeviceId = "lift-motor";

            // Dùng cùng tham số như appsettings (hoặc theo nhu cầu của bạn)
            const byte homingMethod = 21;
            const int homingSpeed = 20000;
            const int homingOffset = 0;

            // Ghi homing params xuống drive giống CiA402ServoCard
            await ServoHubClient.SetHomingMethodAsync(liftDeviceId, homingMethod);
            await ServoHubClient.SetHomingSpeedAsync(liftDeviceId, homingSpeed);
            await ServoHubClient.SetHomingOffsetAsync(liftDeviceId, homingOffset);

            // Start homing trực tiếp trên thiết bị
            await ServoHubClient.StartHomingAsync(liftDeviceId, homingMethod, homingSpeed);

            Snackbar.Add("Lift homing command sent to lift-motor", Severity.Success);

            await Task.Delay(500);
            await RefreshStatus();
        }
        catch (Exception ex)
        {
            Snackbar.Add($"Error homing lift: {ex.Message}", Severity.Error);
        }
        finally
        {
            isLoading = false;
            StateHasChanged();
        }
    }

    private static double ConvertCountsToMeters(int counts)
    {
        // 10,000 counts = 0.01 m => 1,000,000 counts = 1 m
        return counts / 1_000_000.0;
    }

    private static int ConvertMetersToCounts(double meters)
    {
        return (int)Math.Round(meters * 1_000_000.0);
    }
}