using RobotNet.VDA5050.InstantAction;
using RobotNet.VDA5050.Order;
using RobotNet10.FleetManager.Script;
using RobotNet10.FleetManager.Services.RobotManager.Models;
using RobotNet10.Shared;
using Action = RobotNet.VDA5050.InstantAction.Action;

namespace RobotNet10.FleetManager.Services.RobotController;

/// <summary>
/// Interface for RobotController - instance per robot
/// </summary>
public interface IRobotController : IDisposable
{
    /// <summary>
    /// Robot ID (SerialNumber)
    /// </summary>
    string RobotId { get; }

    /// <summary>
    /// Robot data containing all robot information
    /// </summary>
    RobotData Data { get; }

    /// <summary>
    /// Whether robot is online (derived from ConnectionState)
    /// </summary>
    bool IsOnline { get; }

    /// <summary>
    ///  Whether the robot is ready for the order
    /// </summary>
    bool IsReady { get; }

    /// <summary>
    /// Move robot to a specific node by NodeName
    /// </summary>
    Task<MessageResult> MoveToNodeAsync(string nodeName, double? angle, CancellationToken cancellationToken = default);

    /// <summary>
    /// Move robot to a specific node by NodeId (string)
    /// </summary>
    Task<MessageResult> MoveToNodeByIdAsync(string nodeId, double? angle, CancellationToken cancellationToken = default);

    /// <summary>
    /// Move robot to a specific node by NodeId (Guid)
    /// </summary>
    Task<MessageResult> MoveToNodeByGuidAsync(Guid nodeId, double? angle, CancellationToken cancellationToken = default);

    /// <summary>
    /// Move the robot to a taget action and execute action
    /// </summary>
    /// <param name="nodeName"></param>
    /// <param name="action"></param>
    /// <param name="cancellationToken"></param>
    /// <returns></returns>
    Task<MessageResult> MoveToStationAsync(string nodeName, StationAction action, CancellationToken cancellationToken = default);

    /// <summary>
    /// Send a single instant action to robot
    /// </summary>
    Task<MessageResult> SendInstantActionAsync(Action action, CancellationToken cancellationToken = default);

    /// <summary>
    /// Send order to robot
    /// </summary>
    Task<MessageResult> SendOrderAsync(OrderMsg order, CancellationToken cancellationToken = default);

    /// <summary>
    /// Send instant actions message to robot
    /// </summary>
    Task<MessageResult> SendInstantActionsAsync(InstantActionsMsg instantActions, CancellationToken cancellationToken = default);

    /// <summary>
    /// Request factsheet from robot
    /// </summary>
    Task<MessageResult> RequestFactsheetAsync(CancellationToken cancellationToken = default);

    /// <summary>
    /// Request state from robot
    /// </summary>
    Task<MessageResult> RequestStateAsync(CancellationToken cancellationToken = default);

    /// <summary>
    /// Cancel current order
    /// </summary>
    Task<MessageResult> CancelOrderAsync(CancellationToken cancellationToken = default);
}