I150/srcs/RobotNet10/Commons/RobotNet10.NavigationTune/Controllers/TuningController.cs

using Microsoft.AspNetCore.Mvc;
using Microsoft.AspNetCore.SignalR;
using Microsoft.Extensions.Logging;
using RobotNet10.NavigationTune.Data;
using RobotNet10.NavigationTune.Hubs;
using RobotNet10.NavigationTune.Services;
using RobotNet10.NavigationTune.Shared.Interfaces;
using RobotNet10.NavigationTune.Shared.Models;

namespace RobotNet10.NavigationTune.Controllers;

/// <summary>
/// REST API controller for test execution and control
/// </summary>
[ApiController]
[Route("api/[controller]")]
public class TuningController(
    ITuningOrchestrator orchestrator,
    IParameterManager parameterManager,
    IScenarioRepository scenarioRepository,
    ILogger<TuningController> logger) : ControllerBase
{

    /// <summary>
    /// Execute a single test
    /// </summary>
    [HttpPost("execute")]
    public async Task<ActionResult<TestExecutionResult>> ExecuteTest(
        [FromBody] ExecuteTestRequest request,
        CancellationToken cancellationToken = default)
    {
        try
        {
            // Load scenario and parameter set
            var scenario = await scenarioRepository.GetByIdAsync(request.ScenarioId);
            if (scenario == null)
                return NotFound(new { error = $"Scenario with ID {request.ScenarioId} not found" });

            var parameterSet = await parameterManager.GetByIdAsync(request.ParameterSetId);
            if (parameterSet == null)
                return NotFound(new { error = $"Parameter set with ID {request.ParameterSetId} not found" });

            // Get connection ID from request headers or query
            var connectionId = Request.Headers["X-Connection-Id"].FirstOrDefault() 
                ?? Request.Query["connectionId"].FirstOrDefault();

            // Start test and return immediately so UI can enable Stop/Pause; completion is sent via SignalR (ReceiveTestResult)
            var result = await orchestrator.StartTestAsync(
                scenario,
                parameterSet,
                connectionId,
                request.TestRunId,
                cancellationToken);

            return Ok(result);
        }
        catch (InvalidOperationException ex)
        {
            logger.LogWarning(ex, "Invalid operation executing test");
            return BadRequest(new { error = ex.Message });
        }
        catch (Exception ex)
        {
            logger.LogError(ex, "Error executing test");
            return StatusCode(500, new { error = "Failed to execute test", details = ex.Message });
        }
    }

    /// <summary>
    /// Run batch tests with multiple scenarios
    /// </summary>
    [HttpPost("batch")]
    public async Task<ActionResult<BatchTestResult>> RunBatchTests(
        [FromBody] BatchTestRequest request,
        CancellationToken cancellationToken = default)
    {
        try
        {
            // Load parameter set
            var parameterSet = await parameterManager.GetByIdAsync(request.ParameterSetId);
            if (parameterSet == null)
                return NotFound(new { error = $"Parameter set with ID {request.ParameterSetId} not found" });

            // Load scenarios
            var scenarios = new List<TestScenario>();
            foreach (var scenarioId in request.ScenarioIds)
            {
                var scenario = await scenarioRepository.GetByIdAsync(scenarioId);
                if (scenario == null)
                {
                    logger.LogWarning("Scenario {ScenarioId} not found, skipping", scenarioId);
                    continue;
                }
                scenarios.Add(scenario);
            }

            if (scenarios.Count == 0)
                return BadRequest(new { error = "No valid scenarios found" });

            // Execute batch
            var result = await orchestrator.RunBatchTestsAsync(scenarios, parameterSet, cancellationToken);
            return Ok(result);
        }
        catch (Exception ex)
        {
            logger.LogError(ex, "Error running batch tests");
            return StatusCode(500, new { error = "Failed to run batch tests", details = ex.Message });
        }
    }

    /// <summary>
    /// Compare multiple parameter configurations
    /// </summary>
    [HttpPost("compare")]
    public async Task<ActionResult<ComparisonResult>> CompareConfigurations(
        [FromBody] CompareConfigurationsRequest request,
        CancellationToken cancellationToken = default)
    {
        try
        {
            // Load scenario
            var scenario = await scenarioRepository.GetByIdAsync(request.ScenarioId);
            if (scenario == null)
                return NotFound(new { error = $"Scenario with ID {request.ScenarioId} not found" });

            // Load parameter sets
            var parameterSets = new List<NavigationParameterSet>();
            foreach (var parameterSetId in request.ParameterSetIds)
            {
                var parameterSet = await parameterManager.GetByIdAsync(parameterSetId);
                if (parameterSet == null)
                {
                    logger.LogWarning("Parameter set {ParameterSetId} not found, skipping", parameterSetId);
                    continue;
                }
                parameterSets.Add(parameterSet);
            }

            if (parameterSets.Count == 0)
                return BadRequest(new { error = "No valid parameter sets found" });

            // Compare
            var result = await orchestrator.CompareConfigurationsAsync(parameterSets, scenario, cancellationToken);
            return Ok(result);
        }
        catch (Exception ex)
        {
            logger.LogError(ex, "Error comparing configurations");
            return StatusCode(500, new { error = "Failed to compare configurations", details = ex.Message });
        }
    }

    /// <summary>
    /// Pause running test
    /// </summary>
    [HttpPost("pause/{testRunId}")]
    public ActionResult PauseTest(string testRunId)
    {
        try
        {
            orchestrator.PauseTest(testRunId);
            return Ok(new { message = "Test paused" });
        }
        catch (Exception ex)
        {
            logger.LogError(ex, "Error pausing test {TestRunId}", testRunId);
            return StatusCode(500, new { error = "Failed to pause test" });
        }
    }

    /// <summary>
    /// Resume paused test
    /// </summary>
    [HttpPost("resume/{testRunId}")]
    public ActionResult ResumeTest(string testRunId)
    {
        try
        {
            orchestrator.ResumeTest(testRunId);
            return Ok(new { message = "Test resumed" });
        }
        catch (Exception ex)
        {
            logger.LogError(ex, "Error resuming test {TestRunId}", testRunId);
            return StatusCode(500, new { error = "Failed to resume test" });
        }
    }

    /// <summary>
    /// Stop running test
    /// </summary>
    [HttpPost("stop/{testRunId}")]
    public ActionResult StopTest(string testRunId)
    {
        try
        {
            orchestrator.StopTest(testRunId);
            return Ok(new { message = "Test stopped" });
        }
        catch (Exception ex)
        {
            logger.LogError(ex, "Error stopping test {TestRunId}", testRunId);
            return StatusCode(500, new { error = "Failed to stop test" });
        }
    }

    /// <summary>
    /// Emergency stop
    /// </summary>
    [HttpPost("emergency-stop/{testRunId}")]
    public ActionResult EmergencyStop(string testRunId)
    {
        try
        {
            orchestrator.EmergencyStop(testRunId);
            return Ok(new { message = "Emergency stop activated" });
        }
        catch (Exception ex)
        {
            logger.LogError(ex, "Error emergency stopping test {TestRunId}", testRunId);
            return StatusCode(500, new { error = "Failed to emergency stop test" });
        }
    }
}

/// <summary>
/// Request model for executing a single test.
/// When TestRunId is provided, client should call JoinTestSession(TestRunId) before execute so real-time telemetry is received.
/// </summary>
public class ExecuteTestRequest
{
    public Guid ScenarioId { get; set; }
    public Guid ParameterSetId { get; set; }
    /// <summary>Optional. If set, this Id is used for the test run and for SignalR group test_{TestRunId}.</summary>
    public Guid? TestRunId { get; set; }
}

/// <summary>
/// Request model for batch test execution
/// </summary>
public class BatchTestRequest
{
    public List<Guid> ScenarioIds { get; set; } = new();
    public Guid ParameterSetId { get; set; }
}

/// <summary>
/// Request model for configuration comparison
/// </summary>
public class CompareConfigurationsRequest
{
    public Guid ScenarioId { get; set; }
    public List<Guid> ParameterSetIds { get; set; } = new();
}