using RobotNet.VDA5050.Order;
using RobotNet10.RobotApp.Detection;
using RobotNet10.RobotApp.Shared.Enums;
namespace RobotNet10.RobotApp.Interfaces;

public enum NavigationState
{
    None,
    Idle,
    Initializing,
    Waiting,
    Moving,
    Rotating,
    Docking,
    FinePositioning,
    MovingStraight,
    Completed,
    Canceled,
    Paused,
    Error,
    SafetyStop
}

public interface INavigation
{
    event Action<NavigationState>? OnNavigationFinished;  
    bool IsReady { get; }
    bool Driving { get; }
    double VelocityX { get; }
    double VelocityY { get; }
    double Omega { get; }
    NavigationState State { get; }
    void Move(OrderMsg order, bool hasLoad = false);
    void MoveStraight(double x, double y, bool hasLoad = false, RobotDirection? direction = null);
    void Rotate(double angle);
    void DockTo(IDetectSession session, bool hasLoad = false, RobotDirection? direction = null);
    void Pause();
    void Resume();
    void UpdateOrder(string lastBaseNodeId);
    void RefreshOrder(Node[] nodes, Edge[] edges);
    void Refresh();
    void SafetyStop();
    void CancelMovement();
    void SetSpeed(double speed);
    void Start();
    void Stop();    
}