using RobotNet10.CANOpen.CiA402;
using RobotNet10.CANOpen.CiA402.Enums;
using RobotNet10.CANOpen.CiA402.Models;

namespace RobotNet10.RobotApp.Devices;

/// <summary>
/// Interface cho CiA402 Servo - cung cấp tất cả chức năng điều khiển động cơ servo theo chuẩn CiA402
/// Tập trung vào phần điều khiển động cơ, không bao gồm các chức năng liên quan đến CAN/PDO
/// </summary>
public interface ICiA402Servo
{
    // Cached values (thread-safe, read-only)
    /// <summary>
    /// Statusword hiện tại (real-time, thread-safe)
    /// </summary>
    Statusword CachedStatusword { get; }
    
    /// <summary>
    /// Actual position hiện tại (thread-safe)
    /// </summary>
    int CachedPosition { get; }
    
    /// <summary>
    /// Actual velocity hiện tại (thread-safe)
    /// </summary>
    int CachedVelocity { get; }
    
    /// <summary>
    /// Actual torque hiện tại (thread-safe)
    /// </summary>
    short CachedTorque { get; }
    
    // Events
    /// <summary>
    /// Event được kích hoạt khi Statusword thay đổi
    /// </summary>
    event EventHandler<StatuswordChangedEventArgs>? StatuswordChanged;
    
    /// <summary>
    /// Event được kích hoạt khi Position thay đổi
    /// </summary>
    event EventHandler<PositionChangedEventArgs>? PositionChanged;
    
    /// <summary>
    /// Event được kích hoạt khi Velocity thay đổi
    /// </summary>
    event EventHandler<VelocityChangedEventArgs>? VelocityChanged;
    
    // Statusword & Controlword
    /// <summary>
    /// Get statusword hiện tại
    /// </summary>
    Task<Statusword> GetStatuswordAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Set controlword để điều khiển motor
    /// </summary>
    Task SetControlwordAsync(Controlword controlword, CancellationToken ct = default);
    
    /// <summary>
    /// Get drive state từ statusword
    /// </summary>
    Task<DriveState> GetStateAsync(CancellationToken ct = default);
    
    // Operation Mode
    /// <summary>
    /// Set operation mode (Profile Position, Profile Velocity, Profile Torque, etc.)
    /// </summary>
    Task SetOperationModeAsync(OperationMode mode, CancellationToken ct = default);
    
    /// <summary>
    /// Get operation mode hiện tại
    /// </summary>
    Task<OperationMode> GetOperationModeAsync(CancellationToken ct = default);
    
    // State Machine Control
    /// <summary>
    /// Reset fault trên motor
    /// </summary>
    Task FaultResetAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Shutdown command
    /// </summary>
    Task ShutdownAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Switch on command
    /// </summary>
    Task SwitchOnAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Enable operation command
    /// </summary>
    Task EnableOperationAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Disable operation command
    /// </summary>
    Task DisableOperationAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Quick stop command
    /// </summary>
    Task QuickStopAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Enable motor với automatic state transitions
    /// </summary>
    Task EnableAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Disable motor
    /// </summary>
    Task DisableAsync(CancellationToken ct = default);
    
    // Position Control
    /// <summary>
    /// Get actual position hiện tại
    /// </summary>
    Task<int> GetActualPositionAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Set target position
    /// </summary>
    Task SetTargetPositionAsync(int position, CancellationToken ct = default);
    
    /// <summary>
    /// Set profile speed
    /// </summary>
    Task SetProfileSpeedAsync(uint velocity, CancellationToken ct = default);
    
    /// <summary>
    /// Set profile velocity
    /// </summary>
    Task SetProfileVelocityAsync(uint velocity, CancellationToken ct = default);
    
    /// <summary>
    /// Set profile acceleration
    /// </summary>
    Task SetProfileAccelerationAsync(uint acceleration, CancellationToken ct = default);
    
    /// <summary>
    /// Set profile deceleration
    /// </summary>
    Task SetProfileDecelerationAsync(uint deceleration, CancellationToken ct = default);
    
    /// <summary>
    /// Get profile speed (0x6081) từ drive
    /// </summary>
    Task<uint> GetProfileSpeedAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Get profile acceleration (0x6083) từ drive
    /// </summary>
    Task<uint> GetProfileAccelerationAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Get profile deceleration (0x6084) từ drive
    /// </summary>
    Task<uint> GetProfileDecelerationAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Start position move (set new setpoint bit)
    /// </summary>
    Task StartPositionMoveAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Move to position với Profile Position mode
    /// </summary>
    Task MoveToPositionAsync(int position, uint velocity = 1000, uint acceleration = 5000, uint deceleration = 5000, CancellationToken ct = default);
    
    // Velocity Control
    /// <summary>
    /// Get actual velocity hiện tại
    /// </summary>
    Task<int> GetActualVelocityAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Set target velocity
    /// </summary>
    Task SetTargetVelocityAsync(int velocity, CancellationToken ct = default);
    
    /// <summary>
    /// Target velocity với Profile Velocity mode
    /// </summary>
    Task TargetVelocityAsync(int targetVelocity, uint acceleration = 5000, uint deceleration = 5000, CancellationToken ct = default);
    
    /// <summary>
    /// Profile velocity với Profile Velocity mode
    /// </summary>
    Task ProfileVelocityAsync(int targetVelocity, uint acceleration = 5000, uint deceleration = 5000, CancellationToken ct = default);
    
    // Torque Control
    /// <summary>
    /// Get actual torque hiện tại
    /// </summary>
    Task<short> GetActualTorqueAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Set target torque
    /// </summary>
    Task SetTargetTorqueAsync(short torque, CancellationToken ct = default);
    
    /// <summary>
    /// Run torque với Profile Torque mode
    /// </summary>
    Task RunTorqueAsync(short torque, CancellationToken ct = default);
    
    // Homing
    /// <summary>
    /// Set homing method
    /// </summary>
    Task SetHomingMethodAsync(byte method, CancellationToken ct = default);

    /// <summary>
    /// Set homing speed (speed during search for switch, sub-index 1 of 0x6099).
    /// </summary>
    Task SetHomingSpeedAsync(int speed, CancellationToken ct = default);

    /// <summary>
    /// Set homing offset (0x607C). Offset applied after homing is complete.
    /// </summary>
    Task SetHomingOffsetAsync(int offset, CancellationToken ct = default);

    /// <summary>
    /// Đọc lại homing method từ drive (0x6098) để kiểm tra đã ghi xuống chưa.
    /// </summary>
    Task<byte> GetHomingMethodAsync(CancellationToken ct = default);

    /// <summary>
    /// Đọc lại homing speed từ drive (0x6099 sub-index 1) để kiểm tra đã ghi xuống chưa.
    /// </summary>
    Task<int> GetHomingSpeedAsync(CancellationToken ct = default);

    /// <summary>
    /// Đọc lại homing offset từ drive (0x607C) để kiểm tra đã ghi xuống chưa.
    /// </summary>
    Task<int> GetHomingOffsetAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Start homing procedure
    /// </summary>
    Task StartHomingAsync(byte method, int speed, CancellationToken ct = default);
    
    // Target Position Checking
    /// <summary>
    /// Kiểm tra xem motor đã đến vị trí target chưa
    /// </summary>
    /// <param name="tolerance">Tolerance cho position comparison (encoder counts). Chỉ dùng nếu không có TargetReached bit.</param>
    /// <param name="useStatusword">True để dùng Statusword.TargetReached bit (recommended), False để so sánh position</param>
    bool IsAtTarget(int tolerance = 100, bool useStatusword = true);
    
    /// <summary>
    /// Đợi cho đến khi motor đến vị trí target
    /// </summary>
    Task WaitUntilAtTargetAsync(int tolerance = 100, bool useStatusword = true, int checkIntervalMs = 10, CancellationToken ct = default);
    
    // Error and Status Information
    /// <summary>
    /// Kiểm tra xem motor có đang ở trạng thái Fault không
    /// </summary>
    Task<bool> IsInFaultStateAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Đọc Error Register từ device
    /// </summary>
    Task<byte> GetErrorRegisterAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Đọc Pre-defined Error Field từ device (danh sách các error codes gần đây)
    /// </summary>
    Task<ushort[]> GetErrorHistoryAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Đọc error code mới nhất từ Error History
    /// </summary>
    Task<ushort> GetLatestErrorCodeAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Reset fault trên motor (nếu motor đang ở trạng thái Fault)
    /// </summary>
    Task<bool> TryFaultResetAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Kiểm tra xem motor có đang enabled (Operation Enabled state) không
    /// </summary>
    Task<bool> IsEnabledAsync(CancellationToken ct = default);
    
    /// <summary>
    /// Kiểm tra xem motor có đang ready (Ready to Switch On hoặc Switched On) không
    /// </summary>
    Task<bool> IsReadyAsync(CancellationToken ct = default);
}

#region Event Args

/// <summary>
/// Event args cho StatuswordChanged event
/// </summary>
public class StatuswordChangedEventArgs(Statusword statusword, DriveState oldState, DriveState newState) : EventArgs
{
    public Statusword Statusword { get; } = statusword;
    public DriveState OldState { get; } = oldState;
    public DriveState NewState { get; } = newState;
}

/// <summary>
/// Event args cho PositionChanged event
/// </summary>
public class PositionChangedEventArgs(int position, int oldPosition) : EventArgs
{
    public int Position { get; } = position;
    public int OldPosition { get; } = oldPosition;
    public int Delta => Position - OldPosition;
}

/// <summary>
/// Event args cho VelocityChanged event
/// </summary>
public class VelocityChangedEventArgs(int velocity, int oldVelocity) : EventArgs
{
    public int Velocity { get; } = velocity;
    public int OldVelocity { get; } = oldVelocity;
}

#endregion