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using Opc.Ua;

namespace Robotics
{
    /// <summary>
    /// Fixed geometry of the sample cell, matching the prims authored in
    /// <c>Cell.usda</c>.
    /// </summary>
    /// <remarks>
    /// The separations here are what make the cell collision free, so they are stated once
    /// and asserted by the choreography tests rather than being spread through the code.
    /// </remarks>
    public static class CellLayout
    {
        /// <summary>
        /// The X position of the western transfer station, in metres.
        /// </summary>
        public const double TableAX = -2.6;

        /// <summary>
        /// The X position of the eastern transfer station, in metres.
        /// </summary>
        public const double TableBX = 2.6;

        /// <summary>
        /// The Y position of both transfer stations, in metres.
        /// </summary>
        public const double TableY = 1.2;

        /// <summary>
        /// The height of a table top's surface, in metres.
        /// </summary>
        public const double TableSurfaceZ = 0.770;

        /// <summary>
        /// The X offsets of the three part slots on a table, in metres.
        /// </summary>
        /// <remarks>
        /// Held as a single immutable value rather than rebuilt per access: slot positions
        /// are resolved throughout the simulation, and an <c>ArrayOf</c> can be shared
        /// safely where a cached <c>double[]</c> would hand every caller a writable
        /// reference to the one copy.
        /// </remarks>
        public static ArrayOf<double> SlotOffsetsX { get; } = new double[] { -0.22, 0.0, 0.22 };

        /// <summary>
        /// The Y position a robot parks at to work a table, in metres.
        /// </summary>
        public const double TableApproachY = 0.35;

        /// <summary>
        /// The Y position of the eastbound travel lane, in metres.
        /// </summary>
        public const double EastboundLaneY = 0.35;

        /// <summary>
        /// The Y position of the westbound travel lane, in metres.
        /// </summary>
        public const double WestboundLaneY = -1.15;

        /// <summary>
        /// The half width of the shared corridor along X, in metres.
        /// </summary>
        /// <remarks>
        /// Everything beyond this on either side is an end zone, which only one robot may
        /// occupy. A robot working a table at <see cref="TableAX"/> keeps its arm within
        /// <see cref="DeployedArmHalfWidthX"/>, so a deployed arm never reaches the corridor.
        /// </remarks>
        public const double CorridorHalfWidthX = 1.3;

        /// <summary>
        /// The bounding radius of the platform with the arm folded for transport, in metres.
        /// </summary>
        public const double TransportRadius = 0.65;

        /// <summary>
        /// The furthest a deployed arm is allowed to reach along X from its platform, in
        /// metres.
        /// </summary>
        public const double DeployedArmHalfWidthX = 0.45;

        /// <summary>
        /// The X position of the western charging dock, in metres.
        /// </summary>
        public const double DockD1X = -0.8;

        /// <summary>
        /// The X position of the eastern charging dock, in metres.
        /// </summary>
        public const double DockD2X = 0.8;

        /// <summary>
        /// The Y position of both charging docks, in metres.
        /// </summary>
        public const double DockY = -2.0;

        /// <summary>
        /// Returns the cell position of a part resting in a table slot.
        /// </summary>
        /// <param name="table">The station the slot belongs to.</param>
        /// <param name="slot">The zero based slot index.</param>
        /// <returns>The slot centre, in metres.</returns>
        public static (double X, double Y, double Z) SlotPosition(CellStation table, int slot)
        {
            ArrayOf<double> offsets = SlotOffsetsX;
            int index = slot < 0 ? 0 : slot % offsets.Count;
            double tableX = table == CellStation.TableA ? TableAX : TableBX;
            return (tableX + offsets[index], TableY, TableSurfaceZ + 0.0175);
        }
    }

    /// <summary>
    /// The transfer stations a part can rest on.
    /// </summary>
    public enum CellStation
    {
        /// <summary>
        /// The western station.
        /// </summary>
        TableA,

        /// <summary>
        /// The eastern station.
        /// </summary>
        TableB
    }

    /// <summary>
    /// The exclusive areas of the cell a robot has to reserve before entering.
    /// </summary>
    public enum CellZone
    {
        /// <summary>
        /// No reservation held.
        /// </summary>
        None,

        /// <summary>
        /// The western end of the cell, including table A.
        /// </summary>
        EndZoneA,

        /// <summary>
        /// The eastbound lane of the shared corridor.
        /// </summary>
        CorridorEastbound,

        /// <summary>
        /// The westbound lane of the shared corridor.
        /// </summary>
        CorridorWestbound,

        /// <summary>
        /// The eastern end of the cell, including table B.
        /// </summary>
        EndZoneB,

        /// <summary>
        /// The western charging dock, which sits clear of table A's working area so a robot
        /// waiting for work does not block the station.
        /// </summary>
        DockA,

        /// <summary>
        /// The eastern charging dock, which sits clear of table B's working area.
        /// </summary>
        DockB
    }

    /// <summary>
    /// The step a robot is currently performing.
    /// </summary>
    public enum RobotCycleState
    {
        /// <summary>
        /// Waiting for work.
        /// </summary>
        Idle,

        /// <summary>
        /// Waiting for a zone reservation another robot holds.
        /// </summary>
        Blocked,

        /// <summary>
        /// Driving to the station it collects from.
        /// </summary>
        TravelToSource,

        /// <summary>
        /// Reaching the arm over the source slot.
        /// </summary>
        ReachToSource,

        /// <summary>
        /// Closing the jaws on the part.
        /// </summary>
        Grip,

        /// <summary>
        /// Lifting the part clear and folding the arm for transport.
        /// </summary>
        Lift,

        /// <summary>
        /// Driving to the station it delivers to.
        /// </summary>
        TravelToTarget,

        /// <summary>
        /// Reaching the arm over the target slot.
        /// </summary>
        ReachToTarget,

        /// <summary>
        /// Opening the jaws to release the part.
        /// </summary>
        Release,

        /// <summary>
        /// Folding the arm back for transport.
        /// </summary>
        Retreat,

        /// <summary>
        /// Driving to the charging dock.
        /// </summary>
        TravelToDock,

        /// <summary>
        /// Sitting on the dock taking charge.
        /// </summary>
        Charging
    }
}