import {z} from 'zod'

export type Pose = {xMeters?: number | undefined, yMeters?: number | undefined, headingRadians?: number | undefined};

export type Goal = {destinationId: string} | {pose: Pose};

export type NavigateMission = {goal?: Goal | undefined};

export type NavigateAutoMission = {goals?: Array<Goal> | undefined};

export type BaseMission = {navigateMission: NavigateMission} | {navigateAutoMission: NavigateAutoMission};

export type TrayMapping = {trayName?: string | undefined, goal?: Goal | undefined};

export type DeliveryParams = {trayMappings?: Array<TrayMapping> | undefined};

export type DeliveryMission = {goals?: Array<Goal> | undefined, params?: DeliveryParams | undefined};

export type BussingParams = Record<string, never>;

export type BussingMission = {goals?: Array<Goal> | undefined, params?: BussingParams | undefined};

export type DeliveryPatrolParams = Record<string, never>;

export type DeliveryPatrolMission = {goals?: Array<Goal> | undefined, params?: DeliveryPatrolParams | undefined};

export type BussingPatrolParams = Record<string, never>;

export type BussingPatrolMission = {goals?: Array<Goal> | undefined, params?: BussingPatrolParams | undefined};

export type ServiMission = {deliveryMission: DeliveryMission} | {bussingMission: BussingMission} | {deliveryPatrolMission: DeliveryPatrolMission} | {bussingPatrolMission: BussingPatrolMission} | {navigateMission: NavigateMission} | {navigateAutoMission: NavigateAutoMission};

export type TraverseParams = Record<string, never>;

export type TraverseMission = {goals?: Array<Goal> | undefined, params?: TraverseParams | undefined};

export type TraversePatrolParams = Record<string, never>;

export type TraversePatrolMission = {goals?: Array<Goal> | undefined, params?: TraversePatrolParams | undefined};

export type CartiMission = {traverseMission: TraverseMission} | {traversePatrolMission: TraversePatrolMission} | {navigateMission: NavigateMission} | {navigateAutoMission: NavigateAutoMission};

export type Mission = {baseMission: BaseMission} | {serviMission: ServiMission} | {cartiMission: CartiMission};

export type CreateMissionRequest = {robotId: string, mission: Mission};

export type CreateApiV1MissionCreateArgs = {body: CreateMissionRequest};

export type CreateApiV1MissionCreateOptions = {baseUrl?: string | undefined, BearerAuth?: string | undefined, fetch?: typeof fetch | undefined};

export const createMissionResponse = z.object({missionId: z.string().optional()});

export const validateResponse = async <Output>(
  schema: {
    readonly '~standard': {
      readonly validate: (value: unknown) => ({ readonly value: Output; readonly issues?: undefined } | { readonly issues: ReadonlyArray<{ readonly message: string; readonly path?: ReadonlyArray<PropertyKey | { readonly key: PropertyKey }> | undefined }> }) | Promise<{ readonly value: Output; readonly issues?: undefined } | { readonly issues: ReadonlyArray<{ readonly message: string; readonly path?: ReadonlyArray<PropertyKey | { readonly key: PropertyKey }> | undefined }> }>
    }
  },
  value: unknown
): Promise<Output> => {
  const result = await schema['~standard'].validate(value)

  if (result.issues !== undefined) {
    const detail = result.issues
      .map(({ message, path }) =>
        path?.length
          ? `${path.map((segment) => String(typeof segment === 'object' ? segment.key : segment)).join('.')}: ${message}`
          : message
      )
      .join('; ')

    throw new Error(`Response does not match the schema: ${detail}`, { cause: { issues: result.issues } })
  }

  return result.value
};

/**
 * Create a new mission of a specified type.
 * 
 * POST /v1/mission/create
 */
export const createApiV1MissionCreate = async (args: CreateApiV1MissionCreateArgs, options?: CreateApiV1MissionCreateOptions) => {
const {baseUrl = "https://api.bearrobotics.ai", fetch: fetchFn = fetch, BearerAuth} = options ?? {}

const query = new URLSearchParams()
const headers = new Headers()
headers.set('content-type', "application/json")
headers.set('accept', "application/json")

if (BearerAuth !== undefined) headers.set('authorization', `Bearer ${BearerAuth}`)

const url = `${baseUrl.replace(/\/+$/, '')}/v1/mission/create${query.size > 0 ? `?${query}` : ''}`

const res = await fetchFn(url, {method: "POST", headers, body: JSON.stringify(args.body)})

if (!res.ok) throw new Error(`Request failed with status ${res.status}`, {cause: {status: res.status, body: await res.text()}})

return validateResponse(createMissionResponse, await res.json())
};