using Flyshot.Core.Config;
using Flyshot.Core.Domain;

namespace Flyshot.ControllerClientCompat;

/// <summary>
/// 根据旧版 ControllerClient 的机器人名称，解析当前 replacement 仓库支持的真实模型文件。
/// </summary>
public sealed class ControllerClientCompatRobotCatalog
{
    /// <summary>
    /// 保存当前现场支持的机器人名称到运行目录模型文件名映射。
    /// </summary>
    private static readonly IReadOnlyDictionary<string, string> SupportedRobotModelFileMap = new Dictionary<string, string>(StringComparer.Ordinal)
    {
        ["FANUC_LR_Mate_200iD"] = "LR_Mate_200iD_7L.robot",
        ["FANUC_LR_Mate_200iD_7L"] = "LR_Mate_200iD_7L.robot"
    };

    private readonly ControllerClientCompatOptions _options;
    private readonly RobotModelLoader _robotModelLoader;

    /// <summary>
    /// 初始化机器人兼容目录解析器。
    /// </summary>
    /// <param name="options">兼容层基础配置。</param>
    /// <param name="robotModelLoader">.robot 文件加载器。</param>
    public ControllerClientCompatRobotCatalog(
        ControllerClientCompatOptions options,
        RobotModelLoader robotModelLoader)
    {
        _options = options ?? throw new ArgumentNullException(nameof(options));
        _robotModelLoader = robotModelLoader ?? throw new ArgumentNullException(nameof(robotModelLoader));
    }

    /// <summary>
    /// 根据旧客户端的机器人名称加载对应模型。
    /// </summary>
    /// <param name="robotName">旧客户端传入的机器人名称。</param>
    /// <param name="accLimitScale">RobotConfig.json 中的加速度倍率。</param>
    /// <param name="jerkLimitScale">RobotConfig.json 中的 jerk 倍率。</param>
    /// <returns>兼容层加载出的机器人模型。</returns>
    public RobotProfile LoadProfile(string robotName, double accLimitScale = 1.0, double jerkLimitScale = 1.0)
    {
        if (string.IsNullOrWhiteSpace(robotName))
        {
            throw new ArgumentException("机器人名称不能为空。", nameof(robotName));
        }

        if (!SupportedRobotModelFileMap.TryGetValue(robotName, out var modelFileName))
        {
            throw new InvalidOperationException($"Unsupported robot name: {robotName}");
        }

        var modelPath = ResolveModelPath(modelFileName);
        return _robotModelLoader.LoadProfile(modelPath, accLimitScale, jerkLimitScale);
    }

    /// <summary>
    /// 解析机器人模型路径，运行目录 Config/Models 优先，旧父工作区只作为显式兼容入口。
    /// </summary>
    /// <param name="modelFileName">运行目录 Models 下的机器人模型文件名。</param>
    /// <returns>可传给 .robot 加载器的模型文件绝对路径。</returns>
    private string ResolveModelPath(string modelFileName)
    {
        var configModelPath = Path.Combine(_options.ResolveConfigRoot(), "Models", modelFileName);
        if (File.Exists(configModelPath))
        {
            return configModelPath;
        }

        var legacyWorkspaceRoot = _options.ResolveLegacyWorkspaceRoot();
        if (legacyWorkspaceRoot is not null)
        {
            return Path.Combine(legacyWorkspaceRoot, "FlyingShot", "FlyingShot", "Models", modelFileName);
        }

        return configModelPath;
    }
}