import {z} from 'zod'

export type GetApiTrajectoryPlannerSkillNameExportArgs = {skill_name: string};

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

export const planTrajectorySegment = z.object({tcp_name: z.string().nullable().optional(), plan_trajectory_request: z.record(z.string(), z.unknown()), blending: z.record(z.string(), z.unknown()).nullable().optional()});

export const segmentedTrajectoryPlan = z.object({motion_group_setup: z.record(z.string(), z.unknown()), limits_override: z.record(z.string(), z.unknown()).nullable().optional(), collision_setups: z.record(z.string(), z.unknown()).nullable().optional(), segments: z.array(planTrajectorySegment).optional()});

export const poseMetadata = z.object({prim_path: z.string(), name: z.string().nullable().optional(), tcp_name: z.string().nullable().optional(), selected_joint_config: z.array(z.number()).nullable().optional()});

export const skillMetadata = z.object({motion_group_prim_path: z.string().nullable().optional(), scene_path: z.string().nullable().optional(), poses: z.array(poseMetadata).optional()});

export const exportedSkill = z.object({name: z.string(), version: z.string().optional(), robot_prim_path: z.string().nullable().optional(), tcp_name: z.string().nullable().optional(), collision_setup: z.string().nullable().optional(), type: z.enum(["plan_trajectory", "plan_collision_free"]).optional(), plan_trajectory_request: z.record(z.string(), z.unknown()).nullable().optional(), plan_segmented_trajectory: segmentedTrajectoryPlan.nullable().optional(), plan_collision_free_requests: z.array(z.record(z.string(), z.unknown())).nullable().optional(), metadata: skillMetadata.nullable().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
};

/**
 * Export Trajectory Plan Skill
 * 
 * GET /trajectory-planner/{skill_name}/export
 */
export const getApiTrajectoryPlannerSkillNameExport = async (args: GetApiTrajectoryPlannerSkillNameExportArgs, options: GetApiTrajectoryPlannerSkillNameExportOptions) => {
const {baseUrl, fetch: fetchFn = fetch} = options ?? {}

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

const url = `${baseUrl.replace(/\/+$/, '')}/trajectory-planner/${encodeURIComponent(String(args.skill_name))}/export${query.size > 0 ? `?${query}` : ''}`

const res = await fetchFn(url, {method: "GET", headers})

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

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