using RobotNet.VDA5050.Type;
using RobotNet10.RobotApp.Interfaces;

namespace RobotNet10.RobotApp.Services.Robot;

public partial class RobotPlcController
{
    public OperatingMode PeripheralMode { get; private set; }
    public SafetySpeed SafetySpeed { get; private set; }

    public bool Emergency { get; private set; }
    public bool Bumper { get; private set; }

    public bool LidarFrontProtectField { get; private set; }
    public bool LidarBackProtectField { get; private set; }
    public bool LidarFrontTimProtectField { get; private set; }

    // Lift state - now cached instead of direct read
    public bool LiftedUp { get; private set; }
    public bool LiftedDown { get; private set; }
    public bool LiftHome { get; private set; }

    // Motor state - now cached instead of direct read
    public bool LeftMotorReady { get; private set; }
    public bool RightMotorReady { get; private set; }
    public bool LiftMotorReady { get; private set; }

    public bool ButtonStart { get; private set; }
    public bool ButtonStop { get; private set; }
    public bool ButtonReset { get; private set; }

    // Other state - now cached instead of direct read
    public bool HasLoad { get; private set; }
    public bool EnabledCharger { get; private set; }
    public bool Charging { get; private set; }
    public bool MutedBase { get; private set; }
    public bool MutedLoad { get; private set; }

    // Write state tracking - đọc từ write addresses của PLC
    public SystemState CurrentSystemState => ReadSystemState();
    public OperationState CurrentOperationState => ReadOperationState();
    public RFMode CurrentRFMode => ReadRFMode();
    public bool SetHorizontalLoadValue => ModbusTcpDevice?.ReadCoil(SetHorizontalLoadAddress) ?? false;
    public bool SetMutedBaseValue => ModbusTcpDevice?.ReadCoil(SetMutedBaseAddress) ?? false;
    public bool SetMutedLoadValue => ModbusTcpDevice?.ReadCoil(SetMutedLoadAddress) ?? false;
    public bool SetEnableChargerValue => ModbusTcpDevice?.ReadCoil(EnableChargerAddress) ?? false;
    public bool SetHasLoadValue => ModbusTcpDevice?.ReadCoil(SetHasLoadAddress) ?? false;
    public bool SetRFEStopValue => ModbusTcpDevice?.ReadCoil(SetRFEStopAddress) ?? false;
    public bool SetBatteryLowValue => ModbusTcpDevice?.ReadCoil(SetBatteryLowAddress) ?? false;
    public bool SetLightOnValue => ModbusTcpDevice?.ReadCoil(SetLightOnAddress) ?? false;

    private SystemState ReadSystemState()
    {
        var device = ModbusTcpDevice;
        if (device is null) return SystemState.INIT;

        bool[] states = device.ReadCoils(RobotStateWriteAddress, 10);
        if (states.Length == 10)
        {
            // Decode state from one-hot encoded coils
            if (states[0]) return SystemState.INIT;
            else if (states[1]) return SystemState.PAUSED;
            else if (states[2]) return SystemState.IDLE;
            else if (states[3]) return SystemState.PROCCESSING;
            else if (states[4]) return SystemState.DOCKING;
            else if (states[5]) return SystemState.MAINTENANCE;
            else if (states[6]) return SystemState.MANUAL;
            else if (states[7]) return SystemState.OVERRIDE;
            else if (states[8]) return SystemState.CHARGING;
            else if (states[9]) return SystemState.ERROR;
        }
        else Logger.Warning($"Read system state is failed: data length {states.Length} is wrong.");
        return SystemState.INIT;
    }

    private OperationState ReadOperationState()
    {
        var device = ModbusTcpDevice;
        if (device is null) return OperationState.None;

        bool[] states = device.ReadCoils(RobotOperationWriteAddress, 3);
        if (states.Length == 3)
        {
            // Decode operation state from one-hot encoded coils
            if (states[0]) return OperationState.Move;
            else if (states[1]) return OperationState.Lifting;
            else if (states[2]) return OperationState.LiftRotating;
            else return OperationState.None;
        }
        else Logger.Warning($"Read operation state is failed: data length {states.Length} is wrong.");
        return OperationState.None;
    }

    private RFMode ReadRFMode()
    {
        var device = ModbusTcpDevice;
        if (device is null) return RFMode.None;

        bool[] modes = device.ReadCoils(SetRFModeAddress, 3);
        if (modes.Length == 3)
        {
            // Decode RF mode from one-hot encoded coils
            if (modes[0]) return RFMode.Default;
            else if (modes[1]) return RFMode.Maintenance;
            else if (modes[2]) return RFMode.Override;
            else return RFMode.None;
        }
        else Logger.Warning($"Read RF mode is failed: data length {modes.Length} is wrong.");
        return RFMode.None;
    }
}