using RobotNet.VDA5050.Type;

namespace RobotNet10.RobotApp.Interfaces;

public enum PeripheralButton
{
    Start,
    Reset,
    Stop,
}

public enum SystemState
{
    INIT,
    PAUSED,
    IDLE,
    PROCCESSING,
    DOCKING,
    MAINTENANCE,
    MANUAL,
    OVERRIDE,
    CHARGING,
    ERROR,
}

public enum StopStateType
{
    EMC,
    Bumper,
    FrontProtective,
    BackProtective,
    TimProtective,
    None,
}

public enum OperationState
{
    Move,
    Lifting,
    LiftRotating,
    None,
}

public enum RFMode
{
    Maintenance,
    Override,
    Default,
    None
}
public enum SafetySpeed
{
    Very_Slow,
    Slow,
    Normal,
    Medium,
    Optimal,
    Fast,
    Very_Fast,
}

public interface IPlcController
{
    event Action<OperatingMode>? OnPeripheralModeChanged;
    event Action<PeripheralButton>? OnButtonPressed;
    event Action<StopStateType>? OnStop;
    event Action<SafetySpeed>? OnSafetySpeedChanged;

    bool IsReady { get; }
    bool IsDisconected { get; }
    OperatingMode PeripheralMode { get; }
    SafetySpeed SafetySpeed { get; }

    bool Emergency { get; }
    bool Bumper { get; }
    bool LidarFrontProtectField { get; }
    bool LidarBackProtectField { get; }
    bool LidarFrontTimProtectField { get; }

    bool LiftedUp { get; }
    bool LiftedDown { get; }
    bool LiftHome { get; }

    bool LeftMotorReady { get; }
    bool RightMotorReady { get; }
    bool LiftMotorReady { get; }

    bool ButtonStart { get; }
    bool ButtonStop { get; }
    bool ButtonReset { get; }

    bool HasLoad { get; }
    bool EnabledCharger { get; }
    bool Charging { get; }
    bool MutedBase { get; }
    bool MutedLoad { get; }

    // Write state tracking (các giá trị đã được ghi xuống PLC)
    SystemState CurrentSystemState { get; }
    OperationState CurrentOperationState { get; }
    RFMode CurrentRFMode { get; }
    bool SetHorizontalLoadValue { get; }
    bool SetMutedBaseValue { get; }
    bool SetMutedLoadValue { get; }
    bool SetEnableChargerValue { get; }
    bool SetHasLoadValue { get; }
    bool SetRFEStopValue { get; }
    bool SetBatteryLowValue { get; }
    bool SetLightOnValue { get; }

    void SetSystemState(SystemState state);
    void SetOperationState(OperationState state);
    void SetEnableCharger(bool value);
    void SetHorizontalLoad(bool value);
    void SetMutedBase(bool muted);
    void SetMutedLoad(bool muted);
    void SetRFMode(RFMode mode);
    void SetHasLoad(bool hasLoad);
    void SetRFEStop(bool stop);
    void SetBatteryLow(bool value);
    /// <summary>Bật/tắt đèn — ghi coil M918 (TCP address 2966).</summary>
    void SetLightOn(bool value);
    /// <summary>Ghi hướng di chuyển xuống PLC: tiến M931, lùi M932; không đi thì cả hai off.</summary>
    void SetDirectionForwardBackward(bool forward, bool backward);

    /// <summary>Ghi M815 Alarm Reset xuống PLC (pulse) — PLC thực hiện alarm reset.</summary>
    void WriteAlarmResetM815();

    /// <summary>Lift: Homing (pulse coil M933).</summary>
    void LiftHoming();

    /// <summary>Lift: Điều khiển theo velocity — lên/xuống/dừng (coils M934, M935).</summary>
    void SetLiftVelocity(bool up, bool down);

    /// <summary>Lift: Ghi vị trí đích (internal units: 10000 = 0.01m) và trigger di chuyển (pulse M936).</summary>
    void SetLiftPositionAndGo(int position);

    Task Start(CancellationToken cancellationToken);
    void Stop();
}