// agv_manager.ts
// Module to setup and handle the AGV simulation Worker

import { reconnectAllWorker } from './master_manager.ts';

/**
 * Sends the device list to the AGV worker.
 */
export async function updateAgvDeviceListFromConfig(worker: Worker) {
  try {
    const text = await Deno.readTextFile("./devices.json");
    const devices = JSON.parse(text);
    if (Array.isArray(devices)) {
      worker.postMessage({ type: "deviceList", data: devices });
    } else {
      console.error("agv 配置文件格式错误，要求为数组格式");
    }
  } catch (error) {
    console.error("agv 读取设备配置文件失败:", error);
  }
}

export function initAgvWorker(agvWorker: Worker, config: any){
  // Send initial init to the AGV worker
  agvWorker.postMessage({ type: "init", data: { serverUrl: config.serverUrl } });
}

/**
 * Sets up the AGV Worker, wiring message handlers and sending initial init.
 * @param kv Deno KV instance for storing/retrieving AGV state
 * @param serverUrl The gRPC server URL to send to the AGV worker
 * @param masterWorker The master VDA 5050 Worker to forward AGV events to
 * @returns The initialized AGV Worker
 */
export function setupAgvWorker(kv: Deno.Kv, config: any, masterWorker: Worker, agvWorker: Worker, web_worker: Worker, mappings: any, instanceId: string): Worker {
  
  console.log("AGV 模拟器 Worker 已启动");

  agvWorker.onmessage = async (event: MessageEvent) => {
    const message = event.data;
    switch (message.type) {
      case "inited":
        console.log("agv inited");
        await updateAgvDeviceListFromConfig(agvWorker);
        break;
      case "requestKVDataOnline": {
        const deviceKey = message.key;
        const entry = await kv.get([deviceKey]);
        const deviceStatus = entry.value || null;
        agvWorker.postMessage({
          type: "requestKVDataOnline",
          requestId: message.requestId,
          data: deviceStatus,
        });
        break;
      }
      case "requestKVData": {
        const deviceKey = message.key;
        const entry = await kv.get([deviceKey]);
        const deviceStatus = entry.value || null;
        agvWorker.postMessage({
          type: "requestKVData",
          requestId: message.requestId,
          data: deviceStatus,
        });
        break;
      }
      case "orderForwarded":
        masterWorker.postMessage({
          type: "orderForwarded",
          data: { agvId: message.agvId, order: message.data },
        });
        break;
      case "instantActionsForwarded":
        masterWorker.postMessage({
          type: "instantActionsForwarded",
          data: { agvId: message.agvId, actions: message.data },
        });
        break;
      case "devicesStatus":
        // console.log("收到 Worker devicesStatus 消息，准备更新设备状态",message);
        break;
      case "reconnect-all": {
          console.log("agv 收到 Worker reconnect 消息，准备重连");
          
          agvWorker.postMessage({
            type: "shutdown"
          });
          setTimeout( () => {
            agvWorker.terminate();
            setTimeout( () => {
              reconnectAllWorker(kv, web_worker, masterWorker, agvWorker, config, mappings, instanceId);
            }, 2000);
          }, 2000);
          
          break;
        }
      default:
        console.warn("未知消息类型 from agvWorker:", message);
    }
  };

  return agvWorker;
}