using System;
using System.Collections.Generic;
using AGVNavigationCore.Models;

namespace AGVNavigationCore.PathFinding
{
    /// <summary>
    /// RFID 기반 AGV 경로 계산 결과
    /// 실제 현장에서 AGV가 RFID를 기준으로 이동하는 방식에 맞춤
    /// </summary>
    public class RfidPathResult
    {
        /// <summary>
        /// 경로 찾기 성공 여부
        /// </summary>
        public bool Success { get; set; }

        /// <summary>
        /// RFID 경로 목록 (시작 → 목적지 순서)
        /// </summary>
        public List<string> RfidPath { get; set; }

        /// <summary>
        /// AGV 명령어 목록 (이동 방향 시퀀스)
        /// </summary>
        public List<AgvDirection> Commands { get; set; }

        /// <summary>
        /// 총 거리
        /// </summary>
        public float TotalDistance { get; set; }

        /// <summary>
        /// 계산 소요 시간 (밀리초)
        /// </summary>
        public long CalculationTimeMs { get; set; }

        /// <summary>
        /// 예상 소요 시간 (초)
        /// </summary>
        public float EstimatedTimeSeconds { get; set; }

        /// <summary>
        /// 회전 횟수
        /// </summary>
        public int RotationCount { get; set; }

        /// <summary>
        /// 오류 메시지 (실패시)
        /// </summary>
        public string ErrorMessage { get; set; }

        /// <summary>
        /// 기본 생성자
        /// </summary>
        public RfidPathResult()
        {
            Success = false;
            RfidPath = new List<string>();
            Commands = new List<AgvDirection>();
            TotalDistance = 0;
            CalculationTimeMs = 0;
            EstimatedTimeSeconds = 0;
            RotationCount = 0;
            ErrorMessage = string.Empty;
        }

        /// <summary>
        /// 성공 결과 생성
        /// </summary>
        /// <param name="rfidPath">RFID 경로</param>
        /// <param name="commands">AGV 명령어 목록</param>
        /// <param name="totalDistance">총 거리</param>
        /// <param name="calculationTimeMs">계산 시간</param>
        /// <param name="estimatedTimeSeconds">예상 소요 시간</param>
        /// <param name="rotationCount">회전 횟수</param>
        /// <returns>성공 결과</returns>
        public static RfidPathResult CreateSuccess(
            List<string> rfidPath, 
            List<AgvDirection> commands, 
            float totalDistance, 
            long calculationTimeMs,
            float estimatedTimeSeconds,
            int rotationCount)
        {
            return new RfidPathResult
            {
                Success = true,
                RfidPath = new List<string>(rfidPath),
                Commands = new List<AgvDirection>(commands),
                TotalDistance = totalDistance,
                CalculationTimeMs = calculationTimeMs,
                EstimatedTimeSeconds = estimatedTimeSeconds,
                RotationCount = rotationCount
            };
        }

        /// <summary>
        /// 실패 결과 생성
        /// </summary>
        /// <param name="errorMessage">오류 메시지</param>
        /// <param name="calculationTimeMs">계산 시간</param>
        /// <returns>실패 결과</returns>
        public static RfidPathResult CreateFailure(string errorMessage, long calculationTimeMs)
        {
            return new RfidPathResult
            {
                Success = false,
                ErrorMessage = errorMessage,
                CalculationTimeMs = calculationTimeMs
            };
        }

        /// <summary>
        /// 명령어 요약 생성
        /// </summary>
        /// <returns>명령어 요약 문자열</returns>
        public string GetCommandSummary()
        {
            if (!Success) return "실패";

            var summary = new List<string>();
            var currentCommand = AgvDirection.Stop;
            var count = 0;

            foreach (var command in Commands)
            {
                if (command == currentCommand)
                {
                    count++;
                }
                else
                {
                    if (count > 0)
                    {
                        summary.Add($"{GetCommandText(currentCommand)}×{count}");
                    }
                    currentCommand = command;
                    count = 1;
                }
            }

            if (count > 0)
            {
                summary.Add($"{GetCommandText(currentCommand)}×{count}");
            }

            return string.Join(" → ", summary);
        }

        /// <summary>
        /// 명령어 텍스트 반환
        /// </summary>
        private string GetCommandText(AgvDirection command)
        {
            switch (command)
            {
                case AgvDirection.Forward: return "전진";
                case AgvDirection.Backward: return "후진";
                case AgvDirection.Left: return "좌회전";
                case AgvDirection.Right: return "우회전";
                case AgvDirection.Stop: return "정지";
                default: return command.ToString();
            }
        }

        /// <summary>
        /// RFID 경로 요약 생성
        /// </summary>
        /// <returns>RFID 경로 요약 문자열</returns>
        public string GetRfidPathSummary()
        {
            if (!Success || RfidPath.Count == 0) return "경로 없음";

            if (RfidPath.Count <= 3)
            {
                return string.Join(" → ", RfidPath);
            }
            else
            {
                return $"{RfidPath[0]} → ... ({RfidPath.Count - 2}개 경유) → {RfidPath[RfidPath.Count - 1]}";
            }
        }

        /// <summary>
        /// 상세 경로 정보 반환
        /// </summary>
        /// <returns>상세 정보 문자열</returns>
        public string GetDetailedInfo()
        {
            if (!Success)
            {
                return $"RFID 경로 계산 실패: {ErrorMessage} (계산시간: {CalculationTimeMs}ms)";
            }

            return $"RFID 경로: {RfidPath.Count}개 지점, 거리: {TotalDistance:F1}px, " +
                   $"회전: {RotationCount}회, 예상시간: {EstimatedTimeSeconds:F1}초, " +
                   $"계산시간: {CalculationTimeMs}ms";
        }

        /// <summary>
        /// AGV 운영자용 실행 정보 반환
        /// </summary>
        /// <returns>실행 정보 문자열</returns>
        public string GetExecutionInfo()
        {
            if (!Success) return $"실행 불가: {ErrorMessage}";

            return $"[실행준비] {GetRfidPathSummary()}\n" +
                   $"[명령어] {GetCommandSummary()}\n" +
                   $"[예상시간] {EstimatedTimeSeconds:F1}초";
        }

        /// <summary>
        /// 문자열 표현
        /// </summary>
        public override string ToString()
        {
            if (Success)
            {
                return $"Success: {RfidPath.Count} RFIDs, {TotalDistance:F1}px, {RotationCount} rotations, {EstimatedTimeSeconds:F1}s";
            }
            else
            {
                return $"Failed: {ErrorMessage}";
            }
        }
    }
}