import {z} from 'zod'

export type GetRobotStatusRequest = {robotId: string};

export type CreateApiV1RobotStateGetArgs = {body: GetRobotStatusRequest};

export type CreateApiV1RobotStateGetOptions = {baseUrl?: string | undefined, BearerAuth?: string | undefined, fetch?: typeof fetch | undefined};

export const robotConnection = z.object({state: z.number().int().optional()});

export const batteryState = z.object({chargePercent: z.number().int().optional(), state: z.number().int().optional(), chargeMethod: z.number().int().optional()});

export const emergencyStopState = z.object({emergency: z.number().int().optional(), buttonPressed: z.number().int().optional()});

export const pose = z.object({xMeters: z.number().optional(), yMeters: z.number().optional(), headingRadians: z.number().optional()});

export const goal = z.union([z.object({destinationId: z.string()}), z.object({pose: pose})]);

export const baseFeedback = z.object({status: z.number().int().optional()});

export const feedback = z.object({status: z.number().int().optional()});

export const missionStateMissionFeedback = z.union([z.object({baseFeedback: baseFeedback}), z.object({serviFeedback: feedback}), z.object({cartiFeedback: feedback})]);

export const missionType = z.union([z.object({baseType: z.number().int()}), z.object({serviType: z.number().int()}), z.object({cartiType: z.number().int()})]);

export const missionState = z.object({missionId: z.string().optional(), state: z.number().int().optional(), goals: z.array(goal).optional(), currentGoalIndex: z.number().int().optional(), missionFeedback: missionStateMissionFeedback.optional(), missionType: missionType.optional(), owner: z.string().optional()});

export const errorCode = z.object({code: z.number().int().optional(), severity: z.number().int().optional(), message: z.string().optional()});

export const errorCodes = z.object({codes: z.array(errorCode).optional()});

export const trayState = z.object({trayName: z.string().optional(), loadState: z.number().int().optional(), weightKg: z.number().optional(), loadRatio: z.number().optional()});

export const trayStates = z.object({trayStates: z.array(trayState).optional()});

export const serviState = z.object({trayStates: trayStates.optional()});

export const conveyorState = z.object({index: z.number().int().optional(), operationState: z.number().int().optional(), payloadState: z.number().int().optional(), healthState: z.number().int().optional(), installationState: z.number().int().optional()});

export const cartiState = z.object({conveyorState: conveyorState.optional()});

export const twist = z.object({linearVelocity: z.number().optional(), angularVelocity: z.number().optional()});

export const localizationState = z.object({state: z.number().int().optional()});

export const stuckState = z.object({state: z.number().int().optional(), reason: z.number().int().optional()});

export const navigationState = z.object({stuckState: stuckState.optional()});

export const robotState = z.object({connection: robotConnection.optional(), battery: batteryState.optional(), emergencyStop: emergencyStopState.optional(), mission: missionState.optional(), pose: pose.optional(), errorCodes: errorCodes.optional(), serviState: serviState.optional(), cartiState: cartiState.optional(), twist: twist.optional(), localizationState: localizationState.optional(), navigationState: navigationState.optional()});

export const getRobotStatusResponse = z.object({robotState: robotState.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
};

/**
 * Get the latest robot state.
 * 
 * POST /v1/robot-state/get
 */
export const createApiV1RobotStateGet = async (args: CreateApiV1RobotStateGetArgs, options?: CreateApiV1RobotStateGetOptions) => {
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/robot-state/get${query.size > 0 ? `?${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(getRobotStatusResponse, await res.json())
};