using Microsoft.AspNetCore.Authorization;
using Microsoft.AspNetCore.SignalR;
using RobotNet10.RobotApp.Detection;
using RobotNet10.Shared;
using RobotNet10.Shared.Detection;
using RobotNet10.Shared.Geometry;

namespace RobotNet10.RobotApp.Hubs;

[Authorize]
public class MarkerDetectorHub(IMarkerDetector markerDetector, ILogger<MarkerDetectorHub> logger) : Hub
{
    private const string SessionKey = "DetectSessionId";

    public async Task<MessageResult<Guid>> CreateSession(MarkersSearchRequest request)
    {
        try
        {
            // If this client already has a session, dispose it first
            if (Context.Items.TryGetValue(SessionKey, out var existing) && existing is Guid existingSessionId)
            {
                var existingSession = markerDetector.GetSession(existingSessionId);
                existingSession?.Dispose();
                Context.Items.Remove(SessionKey);
                logger.LogInformation("Disposed existing session {SessionId} for client {ConnectionId}", existingSessionId, Context.ConnectionId);
            }

            request.Yaw = Math.PI * request.Yaw / 180.0;
            var session = await markerDetector.CreateSessionAsync(request);
            Context.Items[SessionKey] = session.SessionId;

            logger.LogInformation("Created session {SessionId} for client {ConnectionId}", session.SessionId, Context.ConnectionId);
            return new MessageResult<Guid>(true, session.SessionId);
        }
        catch (Exception ex)
        {
            logger.LogError(ex, "Failed to create detect session for client {ConnectionId}", Context.ConnectionId);
            return new MessageResult<Guid>(false, Message: ex.Message);
        }
    }

    public MessageResult<Pose> GetGoal(Guid sessionId)
    {
        var session = markerDetector.GetSession(sessionId);
        if (session == null)
            return new(false, Message: $"Session '{sessionId}' not found.");

        if (session.Goal.HasValue)
        {
            return new(true, session.Goal.Value.Pose);
        }
        else
        {
            return new(false);
        }
    }

    public override async Task OnDisconnectedAsync(Exception? exception)
    {
        if (Context.Items.TryGetValue(SessionKey, out var existing) && existing is Guid sessionId)
        {
            var session = markerDetector.GetSession(sessionId);
            session?.Dispose();
            logger.LogInformation("Disposed session {SessionId} on disconnect of client {ConnectionId}", sessionId, Context.ConnectionId);
        }

        await base.OnDisconnectedAsync(exception);
    }
}