I150/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Services/Robot/RobotExtensions.cs

using RobotNet10.FleetManager.Events;
using RobotNet10.RobotApp.Events;
using RobotNet10.RobotApp.Interfaces;
using RobotNet10.RobotApp.Services.ConfigManager;
using RobotNet10.RobotApp.Services.Navigation;
using RobotNet10.RobotApp.Services.Navigation.CSharp;
using RobotNet10.RobotApp.Services.Robot.Actions;
using RobotNet10.RobotApp.Services.Robot.Connection;
using RobotNet10.RobotApp.Services.Robot.Modules;
using RobotNet10.RobotApp.Services.State;
using System.Diagnostics.CodeAnalysis;

namespace RobotNet10.RobotApp.Services.Robot;

public static class RobotExtensions
{
    public static IServiceCollection AddRobot(this IServiceCollection services)
    {
        services.AddSingleton<RobotStateMachine>();
        services.AddSingleton<RobotStateMachineExecute>();
        services.AddSingleton<RobotVisualization>();

        services.AddInterfaceServiceSingleton<IRobotConfiguration, RobotConfiguration>();
        services.AddInterfaceServiceSingleton<IConnectionConfig, ConnectionConfig>();
        services.AddInterfaceServiceSingleton<INavigationConfig, ConfigManager.NavigationConfig>();
        services.AddInterfaceServiceSingleton<IRobotConnectionsService, RobotConnectionsService>();
        services.AddInterfaceServiceSingleton<IRobotEventBus, RobotEventBus>();
        services.AddInterfaceServiceSingleton<IError, RobotErrors>();
        services.AddInterfaceServiceSingleton<IInfomation, RobotInfomations>();
        services.AddInterfaceServiceSingleton<INavigation, RobotNavigation>();
        services.AddInterfaceServiceSingleton<IOrder, RobotOrderController>();
        services.AddInterfaceServiceSingleton<ILoad, RobotLoads>();
        services.AddInterfaceServiceSingleton<ILocalization, RobotLocalization>();
        services.AddInterfaceServiceSingleton<IState, RobotStates>();
        services.AddInterfaceServiceSingleton<IPlcController, RobotPlcController>();

        services.AddInterfaceServiceSingleton<IVelocityController, VelocityController>();
        services.AddInterfaceServiceSingleton<IFactsheet, RobotFactsheet>();

        services.AddHostedInterfaceServiceSingleton<IAction, RobotActionController>();
        services.AddHostedInterfaceServiceSingleton<IRobotActionProvider, RobotActionProvider>();

        services.AddHostedInterfaceServiceSingleton<IRobotController, RobotController>();
        return services;
    }

    public static IServiceCollection AddInterfaceServiceSingleton<TService, [DynamicallyAccessedMembers(DynamicallyAccessedMemberTypes.PublicConstructors)] TImplementation>(this IServiceCollection services) where TService : class where TImplementation : class, TService
    {
        services.AddSingleton<TImplementation>();
        services.AddSingleton<TService>(sp => sp.GetRequiredService<TImplementation>());
        return services;
    }

    public static IServiceCollection AddInterfacesServiceSingleton<TService1, TService2, [DynamicallyAccessedMembers(DynamicallyAccessedMemberTypes.PublicConstructors)] TImplementation>(this IServiceCollection services) where TService1 : class where TService2 : class where TImplementation : class, TService1, TService2
    {
        services.AddSingleton<TImplementation>();
        services.AddSingleton<TService1>(sp => sp.GetRequiredService<TImplementation>());
        services.AddSingleton<TService2>(sp => sp.GetRequiredService<TImplementation>());
        return services;
    }

    public static IServiceCollection AddHostedServiceSingleton<[DynamicallyAccessedMembers(DynamicallyAccessedMemberTypes.PublicConstructors)] THostedService>(this IServiceCollection services) where THostedService : class, IHostedService
    {
        services.AddSingleton<THostedService>();
        services.AddHostedService(sp => sp.GetRequiredService<THostedService>());
        return services;
    }

    public static IServiceCollection AddHostedInterfaceServiceSingleton<TService, [DynamicallyAccessedMembers(DynamicallyAccessedMemberTypes.PublicConstructors)] THostedService>(this IServiceCollection services) where TService : class where THostedService : class, IHostedService, TService
    {
        services.AddSingleton<THostedService>();
        services.AddSingleton<TService>(sp => sp.GetRequiredService<THostedService>());
        services.AddHostedService(sp => sp.GetRequiredService<THostedService>());
        return services;
    }

    public static IServiceCollection AddHostedInterfaceServiceSingleton<TService1, TService2, [DynamicallyAccessedMembers(DynamicallyAccessedMemberTypes.PublicConstructors)] THostedService>(this IServiceCollection services) where TService1 : class where TService2 : class where THostedService : class, IHostedService, TService1, TService2
    {
        services.AddSingleton<THostedService>();
        services.AddSingleton<TService1>(sp => sp.GetRequiredService<THostedService>());
        services.AddSingleton<TService2>(sp => sp.GetRequiredService<THostedService>());
        services.AddHostedService(sp => sp.GetRequiredService<THostedService>());
        return services;
    }
}