@using RobotNet10.Shared.Detection
@using RobotNet10.Shared.Enum
@using RobotNet10.Shared.Numbers

<MudDialog>
    <TitleContent>
        <MudText Typo="Typo.h6">Create Markers Search Request</MudText>
    </TitleContent>
    <DialogContent>
        <MudGrid Spacing="2">
            <MudItem xs="4">
                <MudNumericField @bind-Value="_request.X" Label="X (m)" Variant="Variant.Outlined" Step="0.1" />
            </MudItem>
            <MudItem xs="4">
                <MudNumericField @bind-Value="_request.Y" Label="Y (m)" Variant="Variant.Outlined" Step="0.1" />
            </MudItem>
            <MudItem xs="4">
                <MudNumericField @bind-Value="_request.Yaw" Label="Yaw (rad)" Variant="Variant.Outlined" Step="0.1" />
            </MudItem>
            <MudItem xs="6">
                <MudNumericField @bind-Value="_request.Width" Label="Width (m)" Variant="Variant.Outlined" Step="0.1" />
            </MudItem>
            <MudItem xs="6">
                <MudNumericField @bind-Value="_request.Length" Label="Length (m)" Variant="Variant.Outlined" Step="0.1" />
            </MudItem>
        </MudGrid>

        <MudStack Row AlignItems="AlignItems.Center" Class="mt-4 mb-2">
            <MudText Typo="Typo.subtitle1">Marker Entries</MudText>
            <MudSpacer />
            <MudIconButton Icon="@Icons.Material.Filled.Add" Color="Color.Primary" OnClick="AddMarkerEntry" />
        </MudStack>

        @for (int i = 0; i < _entries.Count; i++)
        {
            var index = i;
            <MudPaper Class="pa-3 mb-2" Outlined>
                <MudStack Row AlignItems="AlignItems.Center">
                    <MudText Typo="Typo.subtitle2">Marker @(index + 1)</MudText>
                    <MudSpacer />
                    <MudIconButton Icon="@Icons.Material.Filled.Delete" Color="Color.Error" Size="Size.Small"
                                   OnClick="() => RemoveMarkerEntry(index)" />
                </MudStack>

                <MudGrid Spacing="2" Class="mt-1">
                    <MudItem xs="6">
                        <MudTextField @bind-Value="_entries[index].MarkerId" Label="Marker ID" Variant="Variant.Outlined" />
                    </MudItem>
                    <MudItem xs="6">
                        <MudSelect @bind-Value="_entries[index].Type" Label="Type" Variant="Variant.Outlined">
                            @foreach (var type in System.Enum.GetValues<MarkerType>())
                            {
                                <MudSelectItem Value="type">@type</MudSelectItem>
                            }
                        </MudSelect>
                    </MudItem>
                    <MudItem xs="4">
                        <MudNumericField @bind-Value="_entries[index].Priority" Label="Priority" Variant="Variant.Outlined" Min="1" />
                    </MudItem>
                    <MudItem xs="4">
                        <MudTextField @bind-Value="_entries[index].DeviceId" Label="Device ID" Variant="Variant.Outlined" />
                    </MudItem>
                    <MudItem xs="4">
                        <MudTextField @bind-Value="_entries[index].Code" Label="Code" Variant="Variant.Outlined" />
                    </MudItem>
                </MudGrid>

                <MudStack Row AlignItems="AlignItems.Center" Class="mt-2">
                    <MudText Typo="Typo.body2">Reference Points</MudText>
                    <MudSpacer />
                    <MudIconButton Icon="@Icons.Material.Filled.AddCircleOutline" Color="Color.Primary" Size="Size.Small"
                                   OnClick="() => AddReferencePoint(index)" />
                </MudStack>

                @for (int j = 0; j < _entries[index].ReferencePoints.Count; j++)
                {
                    var ptIndex = j;
                    <MudStack Row AlignItems="AlignItems.Center" Spacing="2" Class="mt-1">
                        <MudNumericField @bind-Value="_entries[index].ReferencePoints[ptIndex].X" Label="X" Variant="Variant.Outlined"
                                         Step="0.01" Margin="Margin.Dense" />
                        <MudNumericField @bind-Value="_entries[index].ReferencePoints[ptIndex].Y" Label="Y" Variant="Variant.Outlined"
                                         Step="0.01" Margin="Margin.Dense" />
                        <MudIconButton Icon="@Icons.Material.Filled.RemoveCircleOutline" Color="Color.Error" Size="Size.Small"
                                       OnClick="() => RemoveReferencePoint(index, ptIndex)" />
                    </MudStack>
                }
            </MudPaper>
        }

    </DialogContent>
    <DialogActions>
        <MudButton OnClick="Cancel">Cancel</MudButton>
        <MudButton Color="Color.Primary" Variant="Variant.Filled" OnClick="Submit">Create</MudButton>
    </DialogActions>
</MudDialog>

@code {
    [CascadingParameter] IMudDialogInstance Dialog { get; set; } = null!;

    private MarkersSearchRequest _request = new()
    {
        X = -0.611,
        Y = 5.063,
        Yaw = 180.0,
        Width = 0.3,
        Length = 0.3,
        MarkerSearchRequests = []
    };

    private readonly List<MarkerEntryModel> _entries = [
        new MarkerEntryModel(){
            MarkerId = "trolley-legs",
            DeviceId = "sick-lidar-001",
            Priority = 1,
            Type = MarkerType.ShapeReflective,
            ReferencePoints = [
                new Vector2Model(){ X=-1.13, Y = 0.55 },
                new Vector2Model(){X=1.13, Y=0.55 }
            ]
        },
        new MarkerEntryModel(){
            MarkerId = "trolley-qr",
            DeviceId = "hik-qr-001",
            Priority = 2,
            Type = MarkerType.QRCode,
            Code = "PHENIKAAX",
            ReferencePoints = []
        }
    ];

    private void AddMarkerEntry()
    {
        _entries.Add(new MarkerEntryModel { Priority = _entries.Count + 1 });
    }

    private void RemoveMarkerEntry(int index)
    {
        _entries.RemoveAt(index);
    }

    private void AddReferencePoint(int entryIndex)
    {
        _entries[entryIndex].ReferencePoints.Add(new Vector2Model());
    }

    private void RemoveReferencePoint(int entryIndex, int ptIndex)
    {
        _entries[entryIndex].ReferencePoints.RemoveAt(ptIndex);
    }

    private void Submit()
    {
        _request.MarkerSearchRequests = _entries.Select(e => new MarkerEntry
        {
            MarkerId = e.MarkerId ?? string.Empty,
            Type = e.Type,
            Priority = e.Priority,
            DeviceId = e.DeviceId ?? string.Empty,
            Code = e.Code ?? string.Empty,
            ReferencePoints = e.ReferencePoints.Select(p => new Vector2 { X = p.X, Y = p.Y }).ToArray()
        }).ToArray();

        Dialog.Close(DialogResult.Ok(_request));
    }

    private void Cancel() => Dialog.Cancel();

    private class MarkerEntryModel
    {
        public string? MarkerId { get; set; }
        public MarkerType Type { get; set; }
        public int Priority { get; set; } = 1;
        public string? DeviceId { get; set; }
        public string? Code { get; set; }
        public List<Vector2Model> ReferencePoints { get; set; } = [];
    }

    private class Vector2Model
    {
        public double X { get; set; }
        public double Y { get; set; }
    }
}