using Newtonsoft.Json;
using System;
using System.Collections;
using System.Linq;
using System.Threading.Tasks;
using UnityEngine;

public class ActionStateSender
{
    private readonly MqttClientManager mqttClientManager;
    private readonly OrderProcessor orderProcessor;
    private readonly AnimationControllerAPM animationController;
    private readonly string stateTopic;
    private readonly string instantActionsTopic;
    private readonly string serialNumber;
    private readonly string currentMapId;
    private readonly PathMover pathMover;
    private uint headerIdCounter;

    public ActionStateSender(
        MqttClientManager mqttClientManager,
        OrderProcessor orderProcessor,
        AnimationControllerAPM animationController,
        string stateTopic,
        string instantActionsTopic,
        string serialNumber,
        string currentMapId,
        PathMover pathMover)
    {
        this.mqttClientManager = mqttClientManager;
        this.orderProcessor = orderProcessor;
        this.animationController = animationController;
        this.stateTopic = stateTopic;
        this.instantActionsTopic = instantActionsTopic;
        this.serialNumber = serialNumber;
        this.currentMapId = currentMapId;
        this.pathMover = pathMover;
        this.headerIdCounter = 0;
    }

    public async void ProcessInstantActionJson(string json)
    {
        try
        {
            InstantActionData instantAction = await Task.Run(() => JsonConvert.DeserializeObject<InstantActionData>(json));
            if (instantAction.Actions != null)
            {
                foreach (var action in instantAction.Actions)
                {
                    if (action == null) continue;

                    Debug.Log($"Nhận được instant action: ActionType={action.ActionType}, ActionId={action.ActionId ?? "null"}, SerialNumber={serialNumber}");

                    if (instantAction.SerialNumber != serialNumber)
                    {
                        Debug.LogWarning($"Action có serialNumber ({instantAction.SerialNumber}) không khớp với serialNumber của robot ({serialNumber}). Bỏ qua.");
                        continue;
                    }

                    switch (action.ActionType)
                    {
                        case "cancelOrder":
                            Debug.Log($"Nhận được lệnh cancelOrder, ActionId: {(action.ActionId ?? "null")}, SerialNumber: {serialNumber}, HeaderId: {instantAction.HeaderId}");
                            //await SendActionConfirmation(instantAction, action, "FINISHED", "Hủy nhiệm vụ thành công");
                            UnityMainThreadDispatcher.Enqueue(() => orderProcessor.CancelOrder());
                            break;

                        case "pick":
                            if (animationController != null)
                            {
                                UnityMainThreadDispatcher.Enqueue(() =>
                                {
                                    animationController.OnKey2();
                                    Debug.Log($"Đã kích hoạt animation U cho instant action: {action.ActionType}");
                                });
                                //await SendActionConfirmation(instantAction, action, "FINISHED", "Animation U triggered successfully");
                            }
                            else
                            {
                                //await SendActionConfirmation(instantAction, action, "FAILED", "AnimationControllerAPM not found");
                            }
                            break;

                        case "drop":
                            if (animationController != null)
                            {
                                UnityMainThreadDispatcher.Enqueue(() =>
                                {
                                    animationController.OnKey1();
                                    Debug.Log($"Đã kích hoạt animation D cho instant action: {action.ActionType}");
                                });
                                //await SendActionConfirmation(instantAction, action, "FINISHED", "Animation D triggered successfully");
                            }
                            else
                            {
                                //await SendActionConfirmation(instantAction, action, "FAILED", "AnimationControllerAPM not found");
                            }
                            break;

                        default:
                            Debug.LogWarning($"Instant ActionType không được hỗ trợ: {action.ActionType}, SerialNumber: {serialNumber}");
                            //await SendActionConfirmation(instantAction, action, "FAILED", $"Unsupported ActionType: {action.ActionType}");
                            break;
                    }
                }
            }
        }
        catch (Exception ex)
        {
            Debug.LogError($"Lỗi khi phân tích JSON instant action cho robot với serialNumber {serialNumber}: {ex.Message}");
        }
    }

    public async Task SendActionStateAsync(
        ActionData action,
        string referenceId,
        string referenceType,
        string actionStatus,
        string resultDescription)
    {
        try
        {
            // Cập nhật trạng thái hành động trong ActionData
            action.ActionStatus = actionStatus;
            action.ActionDescription = resultDescription;

            var actionState = new ActionState
            {
                ActionId = string.IsNullOrEmpty(action.ActionId) ? Guid.NewGuid().ToString() : action.ActionId,
                ActionType = action.ActionType,
                ActionDescription = action.ActionDescription ?? "",
                ActionStatus = actionStatus,
            };

            var stateData = new SendState
            {
                HeaderId = headerIdCounter++,
                Timestamp = DateTime.UtcNow.ToString("yyyy-MM-ddTHH:mm:ss.fffZ"),
                Version = "1.0.0",
                Manufacturer = "phenikaaX",
                SerialNumber = serialNumber,
                Maps = new Map[]
                {
                    new Map
                    {
                        MapId = currentMapId,
                        MapVersion = "1.0",
                        MapDescription = "Default map",
                        MapStatus = "ENABLED"
                    }
                },
                OrderId = orderProcessor?.OrderId ?? "",
                OrderUpdateId = orderProcessor?.OrderId != null ? 1 : 0,
                ZoneSetId = "",
                LastNodeId = orderProcessor?.LastNodeId ?? "",
                LastNodeSequenceId = orderProcessor?.LastNodeSequenceId ?? 0,
                NodeStates = orderProcessor?.CurrentOrder?.Nodes?.Select(n => new NodeState
                {
                    NodeId = n.NodeId,
                    SequenceId = n.SequenceId,
                    NodeDescription = n.NodeDescription ?? "",
                    Released = n.Released,
                    NodePosition = new NodePosition
                    {
                        X = n.NodePosition.X,
                        Y = n.NodePosition.Y,
                        Theta = n.NodePosition.Theta,
                        AllowedDeviationXY = n.NodePosition.AllowedDeviationXY,
                        AllowedDeviationTheta = n.NodePosition.AllowedDeviationTheta,
                        MapId = n.NodePosition.MapId,
                        MapDescription = n.NodePosition.MapDescription ?? ""
                    }
                }).ToArray() ?? new NodeState[0],
                EdgeStates = orderProcessor?.CurrentOrder?.Edges?.Select(e => new EdgeState
                {
                    EdgeId = e.EdgeId,
                    SequenceId = e.SequenceId,
                    EdgeDescription = e.EdgeDescription ?? "",
                    Released = e.Released,
                    Trajectory = e.Trajectory != null ? new Trajectory
                    {
                        Degree = e.Trajectory.Degree,
                        KnotVector = e.Trajectory.KnotVector,
                        ControlPoints = e.Trajectory.ControlPoints?.Select(cp => new ControlPoint
                        {
                            X = cp.X,
                            Y = cp.Y,
                            Weight = cp.Weight
                        }).ToArray()
                    } : null
                }).ToArray() ?? new EdgeState[0],
                Driving = pathMover?.IsMoving ?? false,
                Paused = !(pathMover?.IsMoving ?? false),
                NewBaseRequest = !(pathMover?.IsMoving ?? false),
                DistanceSinceLastNode = 1.531483174223427f,
                AgvPosition = new AgvPosition
                {
                    X = 0f, // Will be updated by VisualizationSender
                    Y = 0f,
                    Theta = 0f,
                    MapId = currentMapId,
                    MapDescription = "",
                    PositionInitialized = true,
                    LocalizationScore = 0.7f,
                    DeviationRange = 0.1f
                },
                Velocity = new Velocity
                {
                    Vx = 0f,
                    Vy = 0f,
                    Omega = 0f
                },
                Loads = new Load[0],
                ActionStates = new[] { actionState },
                BatteryState = new BatteryState
                {
                    BatteryCharge = 80f,
                    BatteryVoltage = 48f,
                    BatteryHealth = 100f,
                    Charging = false,
                    Reach = 1000f
                },
                OperatingMode = "AUTOMATIC",
                Errors = new Error[0],
                Information = new Information[0],
                SafetyState = new SafetyState
                {
                    EStop = "NONE",
                    FieldViolation = false
                }
            };

            string json = JsonConvert.SerializeObject(stateData, Formatting.None);
            await mqttClientManager.PublishAsync(stateTopic, json);
            Debug.Log($"Đã gửi trạng thái action {action.ActionType} ({referenceType} {referenceId}): {actionStatus} - {resultDescription}");
        }
        catch (Exception)
        {
        }
    }

    private async Task SendActionConfirmation(InstantActionData instantAction, ActionData action, string actionStatus, string resultDescription)
    {
        try
        {
            var confirmation = new CancelConfirmationData
            {
                HeaderId = instantAction.HeaderId,
                Timestamp = DateTime.UtcNow.ToString("yyyy-MM-ddTHH:mm:ss.fffZ"),
                Version = instantAction.Version ?? "0.0.1",
                Manufacturer = instantAction.Manufacturer ?? "phenikaaX",
                SerialNumber = instantAction.SerialNumber ?? serialNumber,
                ActionStates = new[]
                {
                    new ActionState
                    {
                        ActionId = string.IsNullOrEmpty(action.ActionId) ? Guid.NewGuid().ToString() : action.ActionId,
                        ActionType = action.ActionType,
                        ActionStatus = actionStatus,
                        ResultDescription = resultDescription
                    }
                }
            };

            string confirmationJson = JsonConvert.SerializeObject(confirmation, Formatting.None);
            await mqttClientManager.PublishAsync(stateTopic, confirmationJson);
            Debug.Log($"Đã gửi xác nhận action {action.ActionType} lên topic {stateTopic}: {confirmationJson}");
        }
        catch (Exception ex)
        {
            Debug.LogError($"Lỗi khi gửi xác nhận action {action.ActionType}: {ex.Message}");
        }
    }

    public IEnumerator SendCancelOrder(Node node, ActionData action)
    {
        if (node is null)
        {
            yield break;
        }

        if (action is null)
        {
            yield break;
        }

        // Kiểm tra orderProcessor
        if (orderProcessor == null)
        {
            // Gửi thông báo hủy qua MQTT mà không cần orderProcessor
            var cancelOrderDataWithoutProcessor = new
            {
                HeaderId = headerIdCounter++,
                Timestamp = DateTime.UtcNow.ToString("yyyy-MM-ddTHH:mm:ss.fffZ"),
                Version = "0.0.1",
                Manufacturer = "phenikaaX",
                SerialNumber = serialNumber ?? "unknown",
                Actions = new[]
                {
                    new
                    {
                        ActionType = "cancelOrder",
                        ActionId = Guid.NewGuid().ToString(),
                        ActionDescription = $"Không có pallet tại node {node.NodeDescription}",
                        BlockingType = "NONE",
                        ActionParameters = new[]
                        {
                            new { Key = "ORDER_ID", Value = "unknown" },
                            new { Key = "REASON", Value = "Không có pallet" }
                        }
                    }
                }
            };

            string cancelJson = JsonConvert.SerializeObject(cancelOrderDataWithoutProcessor, Formatting.None);

            if (mqttClientManager != null)
            {
                Task publishTask = mqttClientManager.PublishAsync(instantActionsTopic, cancelJson);
                while (!publishTask.IsCompleted)
                {
                    yield return null;
                }
                if (publishTask.IsFaulted)
                {
                    Debug.LogError($"Lỗi khi gửi JSON cancelOrder: {publishTask.Exception?.Message}");
                }
                else
                {
                    Debug.Log($"Đã gửi JSON cancelOrder lên topic instantActions: {cancelJson}");
                }
            }
            else
            {
                Debug.LogError("MqttClientManager is null. Cannot send cancel order message.");
            }
            yield break;
        }

        // Hủy order ngay lập tức
        UnityMainThreadDispatcher.Enqueue(() => orderProcessor.CancelOrder());
        Debug.Log($"Đã hủy order với OrderId: {orderProcessor.OrderId ?? "N/A"} do không có pallet tại node {node.NodeDescription}");

        // Tạo JSON hủy order
        var cancelOrderDataWithProcessor = new
        {
            HeaderId = headerIdCounter++,
            Timestamp = DateTime.UtcNow.ToString("yyyy-MM-ddTHH:mm:ss.fffZ"),
            Version = "0.0.1",
            Manufacturer = "phenikaaX",
            SerialNumber = orderProcessor.SerialNumber ?? "unknown",
            Actions = new[]
            {
                new
                {
                    ActionType = "cancelOrder",
                    ActionId = Guid.NewGuid().ToString(),
                    ActionDescription = $"Không có pallet tại node {node.NodeDescription}",
                    BlockingType = "NONE",
                    ActionParameters = new[]
                    {
                        new { Key = "ORDER_ID", Value = orderProcessor.OrderId ?? "" },
                        new { Key = "REASON", Value = "Không có pallet" }
                    }
                }
            }
        };

        // Gửi JSON qua MQTT
        if (mqttClientManager != null)
        {
            string cancelJson = JsonConvert.SerializeObject(cancelOrderDataWithProcessor, Formatting.None);

            Task publishTask = mqttClientManager.PublishAsync(instantActionsTopic, cancelJson);
            while (!publishTask.IsCompleted)
            {
                yield return null;
            }
            if (publishTask.IsFaulted)
            {
                Debug.LogError($"Lỗi khi gửi JSON cancelOrder: {publishTask.Exception?.Message}");
            }
            else
            {
                Debug.Log($"Đã gửi JSON cancelOrder lên topic instantActions: {cancelJson}");
            }
        }
        else
        {
            Debug.LogError("MqttClientManager is null. Cannot send cancel order message.");
        }
    }
}