using RobotNet.VDA5050.Factsheet;
using RobotNet.VDA5050.Type;
using RobotNet10.RobotApp.Interfaces;
using RobotNet10.RobotApp.Modules;
using RobotNet10.RobotApp.Services.Exceptions;

namespace RobotNet10.RobotApp.Services.Robot.Actions;

[RobotAction(ActionType.LIFT_ROTATE,
            [ActionScope.INSTANT, ActionScope.NODE, ActionScope.EDGE],
            [BlockingType.HARD],
            "Xoay bàn nâng của robot.",
            "Robot đã xoay bàn nâng.")]
public class RobotLiftRotateAction(IServiceProvider ServiceProvider) : RobotAction(ServiceProvider)
{
    private static readonly IReadOnlyList<ActionParameter> ActionParameters = new List<ActionParameter>
    {
        new()
            {
                Key = "angle",
                Description = "Góc xoay của bàn nâng. (rad)",
                ValueDataType = ValueDataType.FLOAT,
                IsOptional = false,
            }
    }.AsReadOnly();
    private double Angle = 0; // Degree
    private IRotationModule? RotationModule;
    private IPlcController? PlcController;

    private const int MAX_TIMEOUT = 60000 * 2;
    private int CountTimeout = 0;

    protected override Task StartAction()
    {
        RotationModule = ServiceProvider.GetRequiredService<IRotationModule>();
        PlcController = ServiceProvider.GetRequiredService<IPlcController>();
        PlcController.SetOperationState(OperationState.LiftRotating);
        RotationModule.RotateToAngleAsync(Angle);
        return base.StartAction();
    }

    protected override Task CleanupAction()
    {
        PlcController?.SetOperationState(OperationState.None);
        return base.CleanupAction();
    }

    protected override async Task ExecuteAction()
    {
        if (RotationModule is null)
        {
            SetStatus(ActionEvent.FAILED);
            ResultDescription = "Không tìm thấy mô-đun xoay.";
        }
        else if (RotationModule.State == RotationModuleState.Error)
        {
            SetStatus(ActionEvent.FAILED);
            ResultDescription = "Mô-đun xoay gặp lỗi.";

        }
        else if (RotationModule.State == RotationModuleState.Ready && Math.Abs(await RotationModule.GetCurrentAngleAsync() - Angle) < 1)
        {
            SetStatus(ActionEvent.FINISHED);
            ResultDescription = string.IsNullOrEmpty(ActionAttribute.ResultDescription) ? ResultDescription : ActionAttribute.ResultDescription;
        }
        else if (CountTimeout++ >= MAX_TIMEOUT / ActionInterval)
        {
            SetStatus(ActionEvent.FAILED);
            ResultDescription = "Timeout action";
        }
        await base.ExecuteAction();
    }

    protected override void Initialize()
    {
        base.Initialize();

        if (ActionParameters.Count > 0)
        {
            foreach (var parameterStore in ActionParameters)
            {
                if (!parameterStore.IsOptional)
                {
                    if (Action is null || Action.ActionParameters is null || !Action.ActionParameters.Any(a => a.Key == parameterStore.Key)) throw new ActionException($"Thiếu tham số bắt buộc '{parameterStore.Key}' cho action {Type}.");
                }
            }
            Parameters = Action is null || Action.ActionParameters is null ? [] : Action.ActionParameters;
        }

        var anglePara = Parameters.FirstOrDefault(p => p.Key == "angle") ?? throw new ActionException($"Action {Type} không tìm thấy parameter key 'angle'");
        var angleParse = double.TryParse(anglePara.Value, out double angleData);
        if (!angleParse) throw new ActionException($"Action {Type} có parameter 'angle' không đúng kiểu dữ liệu");
        Angle = angleData * 180 / Math.PI;
    }
}