import { IsArray, IsString, ValidateNested } from "class-validator";
import { Type } from "class-transformer";
import { ISkillView } from "../../features/behavior_tree_builder/presentation/ui/skill_tree/skill_tree";
import { v4 } from "uuid";

export interface ISkillPoseEstimation {
  SkillPackage: ISkillPackage;
  Module: IModule;
  Launch: ILaunch;
  ROS2: IRos2;
  BTAction: IBTAction[];
  Interface: IInterface;
  Settings: ISetting[];
  xxx: IXxx;
}

export interface IBTAction {
  name: string;
  format: string;
  type: string;
  param: string[];
  result: string[];
}

export interface IInterface {
  Input: IPut[];
  Output: IPut[];
}

export interface IPut {
  name: string;
  type: string;
}

export interface ILaunch {
  executable: string;
}

export interface IModule {
  name: string;
  description: string;
}

export interface IRos2 {
  node_name: string;
}

export interface ISetting {
  name: string;
  value: number | string;
}

export interface ISkillPackage {
  name: string;
  version: string;
  format: string;
}

export interface IXxx {
  cameraLink: string;
  topicImage: string;
  topicCameraInfo: string;
}

export class SkillPackage implements ISkillPackage {
  @IsString()
  name: string;
  @IsString()
  version: string;
  @IsString()
  format: string;
}
export class Module implements IModule {
  @IsString()
  name: string;
  @IsString()
  description: string;
}
export class BTAction implements IBTAction {
  @IsString()
  name: string;
  @IsString()
  format: string;
  @IsString()
  type: string;
  @IsArray()
  param: string[];
  @IsArray()
  result: string[];
}
export class Launch implements ILaunch {
  @IsString()
  executable: string;
}
export class Ros2 implements IRos2 {
  @IsString()
  node_name: string;
}
export class Put implements IPut {
  @IsString()
  name: string;
  @IsString()
  type: string;
}
export class Interface implements IInterface {
  @ValidateNested()
  @Type(() => Put)
  Input: IPut[];
  @ValidateNested()
  @Type(() => Put)
  Output: IPut[];
}
export class Setting implements ISetting {
  name: string;
  value: string | number;
}
export class Xxx implements IXxx {
  cameraLink: string;
  topicImage: string;
  topicCameraInfo: string;
}
export class SkillModelPoseEstimation implements ISkillPoseEstimation {
  @ValidateNested()
  @Type(() => SkillPackage)
  SkillPackage: ISkillPackage;
  @ValidateNested()
  @Type(() => Module)
  Module: IModule;
  @ValidateNested()
  @Type(() => Launch)
  Launch: ILaunch;
  @ValidateNested()
  @Type(() => Ros2)
  ROS2: IRos2;
  @ValidateNested()
  @IsArray()
  @Type(() => BTAction)
  BTAction: IBTAction[];
  @ValidateNested()
  @Type(() => Interface)
  Interface: IInterface;
  @ValidateNested()
  @IsArray()
  @Type(() => Setting)
  Settings: ISetting[];
  @ValidateNested()
  @Type(() => Xxx)
  xxx: IXxx;
}

export class Skills {
  @IsArray()
  @Type(() => SkillModelPoseEstimation)
  skills: SkillModelPoseEstimation[];
  toSkillView(): ISkillView[] {
    return this.skills.map((el) => {
      return {
        name: el.Module.name,
        children: el.BTAction.map((act) => {
          // return { name: `${el.Module.name} - ${act.name}` };
          return { name: act.name, uuid: v4() };
        }),
      };
    });
  }
  getSkillDo(name: string) {
    return this.skills.reduce((acc, el) => {
      if (el.BTAction.find((el) => el.name.isEqual(name))) {
        acc = el.Module.name;
      }
      return acc;
    }, "error");
  }
  getSkillsNames() {
    return this.skills
      .map((el) => {
        return el.BTAction.map((act) => {
          return { name: act.name };
        });
      })
      .flat(1);
  }
}