import makeAutoObservable from "mobx-store-inheritance";
import clone from "just-clone";
import { IsArray, IsEnum, IsNotEmpty, IsOptional, 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";
import { Result } from "../helper/result";
import { ValidationModel } from "./validation_model";
import { ITopicModel, TopicViewModel } from "../../features/topics/topic_view_model";
import { BehaviorTreeBuilderStore } from "../../features/behavior_tree_builder/presentation/behavior_tree_builder_store";
import { TopicDependencyViewModel } from "../../features/behavior_tree_builder/presentation/ui/forms/topics_form/topic_dependency_view_model";
import { FormBuilderValidationModel } from "./form_builder_validation_model";
import { FormType } from "./form";

export interface IDependency {
  skills: ISkillDependency[];
}

export interface ISkillDependency {
  sid: string;
  dependency: Object;
}

export interface ISkill {
  sid?: string;
  SkillPackage: ISkillPackage;
  Module: IModule;
  BTAction: IBTAction[];
}
export interface IWeightsDependency {
  weights_name: string;
  object_name: string;
  weights_file: string;
  dimensions: number[];
}
export interface IDeviceDependency {
  sid: string;
}
export interface IDependency { }
export interface IParam {
  isFilled: boolean;
  type: string;
  dependency?: DependencyViewModel;
}

abstract class IDependencyViewModel {
  abstract type: FormType;
}
export class DependencyViewModel implements IDependencyViewModel {
  type: FormType;
  static empty = () => new DependencyViewModel();
  toView = (store: BehaviorTreeBuilderStore | undefined): React.ReactNode => "Dependency view model error";
}
export class ParamViewModel implements IParam {
  type: string;

  @Type(() => DependencyViewModel, {
    discriminator: {
      property: "type",
      subTypes: [
        { value: TopicDependencyViewModel, name: FormType.topic },
        { value: FormBuilderValidationModel, name: FormType.formBuilder },
      ],
    },
    keepDiscriminatorProperty: true,
  })
  dependency: DependencyViewModel;
  isFilled: boolean = false;
  constructor(type: string, dependency: DependencyViewModel) {
    this.type = type;
    this.dependency = dependency;
  }
  static empty = () => new ParamViewModel("", DependencyViewModel.empty());
}
export interface IBTAction {
  name: string;
  type: string;
  param: IParam[];
  result: string[];
}
export enum BtAction {
  ACTION = "ACTION",
  CONDITION = "CONDITION",
}
export class BtActionViewModel extends ValidationModel implements IBTAction {
  @IsNotEmpty()
  @IsString()
  name: string;

  @IsNotEmpty()
  @IsString()
  type: string;
  @Type(() => ParamViewModel)
  param: IParam[];
  @IsNotEmpty()
  @IsString()
  result: string[];
  @IsNotEmpty()
  @IsEnum(BtAction)
  typeAction: BtAction;
  constructor(name: string, type: string, param: IParam[], result: string[], typeAction: BtAction) {
    super();
    this.name = name;
    this.type = type;
    this.param = param;
    this.result = result;
    this.typeAction = typeAction;
  }
  static empty = () => new BtActionViewModel("", "", [], [], BtAction.ACTION);
  public validParam = (type: string) => this.param.someR((param) => param.type === type);
}
export interface IInterface {
  Input: IPut[];
  Output: IPut[];
}

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

export interface ILaunch {
  executable: string;
}

export interface IModule {
  name: string;
  node_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 class SkillPackage implements ISkillPackage {
  @IsNotEmpty()
  @IsString()
  name: string;
  @IsNotEmpty()
  @IsString()
  version: string;
  @IsNotEmpty()
  @IsString()
  format: string;
  constructor(name: string, version: string, format: string) {
    this.name = name;
    this.format = format;
    this.version = version;
  }
  static empty = () => new SkillPackage("", "", "");
}
export class Module implements IModule {
  @IsString()
  node_name: string;
  @IsString()
  name: string;
  @IsString()
  description: string;
  constructor(name: string, description: string) {
    this.name = name;
    this.description = description;
  }
  static empty = () => new Module("", "");
}
export class BTAction implements IBTAction {
  @IsString()
  name: string;
  @IsString()
  type: string;
  sid?: string;
  @IsArray()
  param: IParam[];
  @IsArray()
  result: string[];
}
export class Launch implements ILaunch {
  @IsNotEmpty()
  @IsString()
  executable: string;
  @IsNotEmpty()
  @IsString()
  package: string;
  constructor(executable: string, plage: string) {
    this.executable = executable;
    this.package = plage;
  }
  static empty = () => new Launch("", "");
}
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 SkillModel extends ValidationModel implements ISkill {
  @IsOptional()
  @IsString()
  _id?: string;
  constructor() {
    super();
    makeAutoObservable(this);
  }

  bgColor: string = `rgba(5, 26, 39, 1)`;
  borderColor: string = "rgba(25, 130, 196, 1)";
  @IsOptional()
  @IsString()
  sid?: string;
  @ValidateNested()
  @Type(() => SkillPackage)
  SkillPackage: ISkillPackage;
  @ValidateNested()
  @Type(() => Module)
  Module: IModule;
  @IsNotEmpty()
  @IsArray()
  @Type(() => BtActionViewModel)
  BTAction: BtActionViewModel[];
  topicsOut: TopicViewModel[] = [];
  @Type(() => Launch)
  Launch: Launch;
  @Type(() => FormBuilderValidationModel)
  Settings: FormBuilderValidationModel;
  static empty() {
    const skillModel = new SkillModel();
    skillModel.BTAction = [];
    skillModel.SkillPackage = SkillPackage.empty();
    skillModel.Module = Module.empty();
    skillModel.Launch = Launch.empty();
    skillModel.Settings = FormBuilderValidationModel.empty();
    return skillModel;
  }
  public static isEmpty(skill: SkillModel): Result<void, SkillModel> {
    if (skill.BTAction.isEmpty()) {
      return Result.error(undefined);
    }
    return Result.ok(Object.assign(skill, {}));
  }

  public getSid = () => this.sid;
  public setSid = (sid: string) => {
    const result = clone(this);
    result.sid = sid;
    return result;
  };
  emptyParam = () => this.BTAction.at(0)?.param.at(0)?.dependency === undefined;
}

export class SkillDependency implements IDependency {
  constructor(public skills: ISkillDependency[]) { }
  static empty() {
    return new SkillDependency([]);
  }
  static isEmpty = (skill: SkillDependency) => {
    if (skill.skills.isEmpty()) {
      return Result.error(undefined);
    }
    return Result.ok(skill);
  };
}

export class Skills {
  constructor() {
    makeAutoObservable(this);
  }
  @IsOptional()
  @IsArray()
  @Type(() => TopicViewModel)
  topicsStack: ITopicModel[] = [];
  @IsArray()
  @Type(() => SkillModel)
  skills: SkillModel[];
  static fromSkills = (skilsModel: SkillModel[]) => {
    const skills = this.empty();
    skills.skills = skilsModel;
    return skills;
  };
  deleteTopic = (sid: string) => (this.topicsStack = this.topicsStack.filter((el) => !el.sid?.isEqual(sid)));

  getSkillAtSid = (sid: string): Result<void, SkillModel> => {
    const result = this.skills.filter((skill) => skill.sid?.isEqual(sid)).at(0);
    if (result === undefined) {
      return Result.error(undefined);
    }
    return Result.ok(result);
  };

  validation = (): Result<string[], void> => {
    const errors: string[] = [];
    this.skills.forEach((skill) => {
      skill.BTAction.forEach((action) => {
        if (action.param.isNotEmpty()) {
          action.param.forEach((param) => {
            if (Object.keys(param?.dependency ?? {}).isEmpty()) {
              errors.push(param.type);
            }
          });
        }
      });
    });
    if (errors.isNotEmpty()) {
      return Result.error(errors);
    }
    return Result.ok(undefined);
  };
  getCssAtLabel = (label: string): React.CSSProperties =>
    this.skills.reduce<React.CSSProperties>((acc, el) => {
      el.BTAction.rFind<BtActionViewModel>((el) => el.name.isEqual(label)).map(() => {
        acc = {
          backgroundColor: el.bgColor,
          border: `1px solid ${el.borderColor}`,
        };
      });
      return acc;
    }, {});
  skillBySid = (sid: string) =>
    SkillModel.isEmpty(
      this.skills.reduce<SkillModel>((acc, el) => {
        if (el.sid?.isEqual(sid)) {
          acc = el;
        }
        return acc;
      }, SkillModel.empty())
    );

  toSkillView = (): ISkillView[] =>
    this.skills.map((el) => {
      return {
        name: el.Module.name,
        children: el.BTAction.map((act) => {
          return { name: act.name, uuid: v4() };
        }),
      };
    });
  getSkill = (name: string) =>
    SkillModel.isEmpty(
      this.skills.reduce<SkillModel>((acc, el) => {
        if (el.BTAction.find((el) => el.name.isEqual(name))) {
          el.BTAction.map((action) => {
            action.param.map((param) => {
              return param;
            });
          });
          acc = el;
        }
        return acc;
      }, SkillModel.empty())
    );

  getSkilsOut = (name: string) =>
    this.skills
      .reduce<string[][]>((acc, el) => {
        if (el.BTAction.find((el) => el.name.isEqual(name))) {
          acc = el.BTAction.filter((f) => f.name.isEqual(name)).map((z) => z.result);
        }
        return acc;
      }, [])
      .flat(1);
  getSkillParams = (name: string) =>
    this.skills
      .reduce<IParam[][]>((acc, el) => {
        if (el.BTAction.find((el) => el.name.isEqual(name))) {
          acc = el.BTAction.filter((f) => f.name.isEqual(name)).map((z) => z.param);
        }
        return acc;
      }, [])
      .flat(1);
  getSkillDo = (name: string) =>
    this.skills.reduce((acc, el) => {
      if (el.BTAction.find((el) => el.name.isEqual(name))) {
        acc = el.Module.name;
      }
      return acc;
    }, "error");

  getSkillsNames = () =>
    this.skills
      .map((el) => {
        return el.BTAction.map((act) => {
          return { name: act.name };
        });
      })
      .flat(1);

  getForms = (skillLabel: string) =>
    this.skills
      .reduce<SkillModel[]>((acc, el) => {
        if (el.BTAction.find((el) => el.name.isEqual(skillLabel))) {
          acc.push(el);
        }
        return acc;
      }, [])
      .map((el) => el.BTAction.map((act) => act.param.map((el) => el.type).flat(1)))
      .flat(1)
      .flat(1)
      .filter((el) => el !== "");

  getDependencyBySkillLabelAndType = (skillType: string, sid: string): DependencyViewModel => this.skills
    .reduce<DependencyViewModel[]>((acc, skill) => {
      if (skill.sid?.isEqual(sid)) {
        skill.BTAction.map((action) => {
          action.param.map((param) => {

            if (param.type.isEqual(skillType)) {


              acc.push(param?.dependency ?? DependencyViewModel.empty());
            }

            return param;
          });
          return action;
        });
      }

      return acc;
    }, [])
    .at(0) ?? DependencyViewModel.empty()
  static isEmpty(model: Skills): Result<void, void> {
    if (model.skills.isEmpty()) {
      return Result.error(undefined);
    }
    return Result.ok(undefined);
  }
  static empty() {
    const skills = new Skills();
    skills.skills = [];
    return skills;
  }

  public dependencyIsFilled = (skillType: string, sid: string) =>
    this.skills.reduce((acc, skill) => {
      if (skill.sid?.isEqual(sid)) {
        skill.BTAction.forEach((action) => {
          action.param.forEach((param) => {
            acc = param.isFilled;
          });
        });
      }
      return acc;
    }, false);

  getAllSids = () =>
    this.skills.reduce((acc, skill) => {
      skill.BTAction.forEach((action) =>
        action.param.forEach((param) => {
          return param;
        })
      );
      return acc;
    }, new Map<string, number>());

  deleteSid(sid: string): SkillModel[] {
    return this.skills.filter((skill) => !skill.sid?.isEqual(sid));
  }
  updateSkill = (skill: SkillModel) => {
    this.skills = this.skills.map((el) => {
      if (el.sid?.isEqual(skill.sid ?? "")) {
        el = skill;
      }
      return el;
    });
  };
  skillHasForm = (label: string): boolean => {
    return true;
  };
  getSkillWidthAtLabel = (label: string): number =>
    this.getSkillParams(label).reduce((acc, element) => {
      if (element.type.length > acc) {
        acc = element.type.length;
      }
      return acc;
    }, 0);
  skillIsDependencyFilled = (label: string): Result<boolean, boolean> =>
    this.getSkill(label).fold(
      (skill) => {
        return Result.ok(skill.BTAction.find((el) => el.name.isEqual(label))?.param.isEmpty());
      },
      () => Result.error(false)
    );
  skillIsCondition = (label: string) =>
    this.getSkill(label).fold(
      (s) => s.BTAction.atR(0).map((el) => el.typeAction.isEqualR(BtAction.CONDITION)),
      (e) => Result.error(undefined)
    );
}