/* ========================================================================
 * Copyright (c) 2005-2026 The OPC Foundation, Inc. All rights reserved.
 *
 * OPC Foundation MIT License 1.00
 *
 * Permission is hereby granted, free of charge, to any person
 * obtaining a copy of this software and associated documentation
 * files (the "Software"), to deal in the Software without
 * restriction, including without limitation the rights to use,
 * copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the
 * Software is furnished to do so, subject to the following
 * conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
 * OTHER DEALINGS IN THE SOFTWARE.
 *
 * The complete license agreement can be found here:
 * http://opcfoundation.org/License/MIT/1.00/
 * ======================================================================*/

using Microsoft.Extensions.DependencyInjection;
using Microsoft.Extensions.DependencyInjection.Extensions;
using Microsoft.Extensions.Hosting;
using Microsoft.Extensions.Logging;
using Opc.Ua;
using Opc.Ua.Robotics.Server;
using Opc.Ua.Server;
using Robotics.IntentEnabledRobot;
using Robotics.IntentEnabledRobot.Simulation;

HostApplicationBuilder builder = Host.CreateApplicationBuilder(args);

builder.Logging.ClearProviders();
builder.Logging.AddConsole();

int port = int.TryParse(builder.Configuration["port"], out int configuredPort)
    ? configuredPort
    : 62840;
string host = builder.Configuration["host"] is { Length: > 0 } configuredHost
    ? configuredHost
    : "localhost";

builder.Services.TryAddEnumerable(
    ServiceDescriptor.Singleton<IRobotIntentModelProvider, OpenUsdIntentModelProvider>());
builder.Services.AddSingleton<SimulatedArmExecutor>();
builder.Services.AddSingleton<SampleSafetySource>();
builder.Services.AddSingleton<IntentRobotCell>();
builder.Services.AddHostedService<SafetyConsoleService>();

builder.Services
    .AddOpcUa()
    .AddServer(options =>
    {
        options.ApplicationName = "IntentEnabledRobot";
        options.ApplicationUri = "urn:localhost:OPCFoundation:IntentEnabledRobot";
        options.ProductUri = "uri:opcfoundation.org:IntentEnabledRobot";
        options.AutoAcceptUntrustedCertificates = true;
        options.EndpointUrls.Add($"opc.tcp://{host}:{port}/IntentEnabledRobot");
    })
    .ConfigureRoles(options => options.Roles.Add(new RoleDefinitionOptions
    {
        Name = BrowseNames.WellKnownRole_Operator,
        Identities =
        {
            new RoleIdentityMappingOptions
            {
                CriteriaType = IdentityCriteriaType.Anonymous
            }
        }
    }))
    .AddRobotIntent()
    .AddRobotIntentExecutor<SafetyAwareArmExecutor>()
    .ConfigureRobotIntent(async (context, cancellationToken) =>
        await context.GetRequiredService<IntentRobotCell>()
            .ConfigureAsync(context, cancellationToken).ConfigureAwait(false));

using IHost app = builder.Build();
await app.RunAsync().ConfigureAwait(false);