@page "/motion/manualcontrol"
@rendermode InteractiveWebAssemblyNoPrerender
@implements IAsyncDisposable

@using RobotNet10.RobotApp.Client.Clients
@using RobotNet10.RobotApp.Client.Components.Motion
@using RobotNet10.RobotApp.Client.Shared.Motion
@using Microsoft.AspNetCore.SignalR.Client
@using MudBlazor

<PageTitle>Manual Control</PageTitle>

<MudContainer MaxWidth="MaxWidth.ExtraLarge" Class="mt-4">
    @* Disconnected Overlay *@
    <MudOverlay Visible="@(!isHubReady)" DarkBackground="true" ZIndex="9999" AutoClose="false">
        <MudStack AlignItems="AlignItems.Center" Spacing="4">
            <MudProgressCircular Color="Color.Primary" Indeterminate="true" Size="Size.Large" />
            <MudText Typo="Typo.h5" Color="Color.Primary">MotionHub Disconnected</MudText>
            <MudText Typo="Typo.body1">Waiting for connection...</MudText>
        </MudStack>
    </MudOverlay>

    <MudStack Spacing="4">
        @* 4 Cards Grid *@
        <MudGrid>
            @* Card 1: Manual Control *@
            <MudItem xs="12" md="6">
                <ManualControlCard HubClient="motionHubClient" IsHubReady="isHubReady" />
            </MudItem>

            @* Card 2: Odometry (from OdometryService → XLOC) *@
            <MudItem xs="12" md="6">
                <OdometryCard Odometry="currentOdometry" IsHubReady="odometryHubReady" />
            </MudItem>

            @* Card 3: Lift Module *@
            <MudItem xs="12" md="6">
                <LiftModuleCard HubClient="motionHubClient" IsHubReady="isHubReady" />
            </MudItem>

            @* Card 4: Rotation Module *@
            <MudItem xs="12" md="6">
                <RotationModuleCard HubClient="motionHubClient" IsHubReady="isHubReady" />
            </MudItem>
        </MudGrid>
    </MudStack>
</MudContainer>

<MudThemeProvider IsDarkMode />
<MudPopoverProvider />
<MudDialogProvider />
<MudSnackbarProvider />

@code {
    [Inject] private MotionHubClient MotionHubClientInjected { get; set; } = null!;
    [Inject] private OdometryHubClient OdometryHubClientInjected { get; set; } = null!;
    [Inject] private ISnackbar Snackbar { get; set; } = null!;

    private MotionHubClient motionHubClient = null!;
    private bool isHubReady = false;

    private OdometryHubClient odometryHubClient = null!;
    private bool odometryHubReady = false;
    private OdometryDto? currentOdometry;

    protected override async Task OnInitializedAsync()
    {
        motionHubClient = MotionHubClientInjected;
        odometryHubClient = OdometryHubClientInjected;

        // Subscribe to connection state changes
        motionHubClient.ConnectionStateChanged += OnConnectionStateChanged;
        odometryHubClient.ConnectionStateChanged += OnOdometryConnectionStateChanged;
        odometryHubClient.OdometryReceived += OnOdometryReceived;

        try
        {
            await motionHubClient.StartAsync();
            isHubReady = motionHubClient.IsConnected;

            // Wait a bit for connection to establish
            await Task.Delay(500);
            isHubReady = motionHubClient.IsConnected;

            await odometryHubClient.StartAsync();
            odometryHubReady = odometryHubClient.IsConnected;

            if (odometryHubReady)
            {
                currentOdometry = await odometryHubClient.GetCurrentOdometryAsync();
            }
        }
        catch (Exception ex)
        {
            Snackbar.Add($"Error initializing: {ex.Message}", Severity.Error);
            isHubReady = false;
        }
    }

    private void OnConnectionStateChanged(HubConnectionState state)
    {
        isHubReady = state == HubConnectionState.Connected;
        InvokeAsync(StateHasChanged);
    }

    private void OnOdometryConnectionStateChanged(HubConnectionState state)
    {
        odometryHubReady = state == HubConnectionState.Connected;
        InvokeAsync(StateHasChanged);
    }

    private void OnOdometryReceived(OdometryDto dto)
    {
        currentOdometry = dto;
        InvokeAsync(StateHasChanged);
    }

    public async ValueTask DisposeAsync()
    {
        if (motionHubClient != null)
        {
            motionHubClient.ConnectionStateChanged -= OnConnectionStateChanged;
        }

        if (odometryHubClient != null)
        {
            odometryHubClient.ConnectionStateChanged -= OnOdometryConnectionStateChanged;
            odometryHubClient.OdometryReceived -= OnOdometryReceived;
        }

        await ValueTask.CompletedTask;
    }
}