I150/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Drivers/Varta/Vartaservice/VartaChargerSimulatorService.cs

using Microsoft.Extensions.Configuration;
using Microsoft.Extensions.Hosting;
using Microsoft.Extensions.Logging;
using RobotNet10.CANOpen;

namespace RobotNet10.RobotApp.Drivers.Battery.Varta;

public sealed class VartaChargerSimulatorService : IHostedService, IDisposable
{
    private readonly ILogger<VartaChargerSimulatorService> _logger;
    private readonly ICanOpenManager _canOpenManager;
    private readonly VartaChargerSimulatorOptions _options;
    private readonly SemaphoreSlim _controlLock = new(1, 1);

    private Task? _runTask;
    private CancellationTokenSource? _runCts;
    private string _currentInterface = "can0";
    private bool _disposed;

    public bool IsRunning => _runTask is { IsCompleted: false };
    public string CurrentInterface => _currentInterface;

    public VartaChargerSimulatorService(
        IConfiguration configuration,
        ILogger<VartaChargerSimulatorService> logger,
        ICanOpenManager canOpenManager)
    {
        _logger = logger ?? throw new ArgumentNullException(nameof(logger));
        _canOpenManager = canOpenManager ?? throw new ArgumentNullException(nameof(canOpenManager));

        _options = new VartaChargerSimulatorOptions();
        configuration.GetSection("Varta:Charger59VSimulator").Bind(_options);
    }

    public async Task StartAsync(CancellationToken cancellationToken)
    {
        if (_options.Enabled)
        {
            await StartSimulatorAsync(_options.CanInterface, cancellationToken);
            return;
        }

        _logger.LogInformation("Varta Charger59V simulator is disabled at startup.");
    }

    public async Task StopAsync(CancellationToken cancellationToken)
    {
        await StopSimulatorAsync(cancellationToken);
    }

    public async Task<bool> StartSimulatorAsync(string? canInterface = null, CancellationToken cancellationToken = default)
    {
        ThrowIfDisposed();

        await _controlLock.WaitAsync(cancellationToken);
        try
        {
            if (_runTask is { IsCompleted: false })
            {
                return false;
            }

            _currentInterface = string.IsNullOrWhiteSpace(canInterface) ? "can0" : canInterface;
            _runCts = new CancellationTokenSource();
            _runTask = RunSimulatorAsync(_currentInterface, _runCts.Token);
            return true;
        }
        finally
        {
            _controlLock.Release();
        }
    }

    public async Task<bool> StopSimulatorAsync(CancellationToken cancellationToken = default)
    {
        ThrowIfDisposed();

        Task? runTask;
        CancellationTokenSource? runCts;

        await _controlLock.WaitAsync(cancellationToken);
        try
        {
            if (_runTask is not { IsCompleted: false } || _runCts is null)
            {
                return false;
            }

            runTask = _runTask;
            runCts = _runCts;
            _runTask = null;
            _runCts = null;
        }
        finally
        {
            _controlLock.Release();
        }

        runCts.Cancel();
        try
        {
            await runTask.WaitAsync(cancellationToken);
        }
        catch (OperationCanceledException)
        {
        }
        finally
        {
            runCts.Dispose();
        }

        return true;
    }

    private async Task RunSimulatorAsync(string canInterface, CancellationToken token)
    {
        _logger.LogInformation("Starting Varta Charger59V simulator on CAN interface {CanInterface}", canInterface);

        try
        {
            var simulator = new Charger59V(_canOpenManager, canInterface, token);
            await simulator.RunAsync();
        }
        catch (OperationCanceledException) when (token.IsCancellationRequested)
        {
            _logger.LogInformation("Varta Charger59V simulator stopped.");
        }
        catch (Exception ex)
        {
            _logger.LogError(ex, "Varta Charger59V simulator crashed.");
        }
    }

    public void Dispose()
    {
        if (_disposed)
        {
            return;
        }

        _disposed = true;
        _runCts?.Cancel();
        _runCts?.Dispose();
        _controlLock.Dispose();
    }

    private void ThrowIfDisposed()
    {
        if (_disposed)
        {
            throw new ObjectDisposedException(nameof(VartaChargerSimulatorService));
        }
    }
}

public sealed class VartaChargerSimulatorOptions
{
    public bool Enabled { get; set; }
    public string CanInterface { get; set; } = "can0";
}

public sealed class VartaChargerSimulatorStartRequest
{
    public string? CanInterface { get; set; }
}