import 'dart:typed_data';
import 'package:maibu_satabot_v2/core/data/base_model.dart';
import 'package:maibu_satabot_v2/features/remote_control/domain/entities/machine_control_entity.dart';

class MachineControlModel extends MachineControlEntity implements BaseModel<MachineControlEntity>{
  MachineControlModel({
      required super.leftSpeed,
      required super.rightSpeed,
      required super.chassisLift,
      required super.mowerSpeed,
      required super.ignitionStatus,
      required super.isEmergency,
    });

  factory MachineControlModel.fromEntity(MachineControlEntity  entity) {
    return MachineControlModel(
      leftSpeed: entity.leftSpeed,
      rightSpeed: entity.rightSpeed,
      chassisLift: entity.chassisLift,
      mowerSpeed: entity.mowerSpeed,
      ignitionStatus: entity.ignitionStatus,
      isEmergency: entity.isEmergency,
    );
  }

  /// 需要传入计算好的左右轮速度
  Uint8List toRawPacket(Map<String, int> speeds) {
    // 1. 调用 Codec：生成协议定义的 8 字节 Payload
    final payload = encodeRemoteControlPayload(
      left: speeds['left'] ?? 0,
      right: speeds['right'] ?? 0,
      lift: chassisLift,
      mower: mowerSpeed,
      ignition: ignitionStatus,
      emergency: isEmergency ? 1 : 0,
    );

    // 2. 调用 Builder：封装帧头、指令、CRC、帧尾
    return payload;
  }

  @override
  MachineControlEntity toEntity() {
    return MachineControlEntity(
      leftSpeed: leftSpeed,
      rightSpeed: rightSpeed,
      chassisLift: chassisLift,
      mowerSpeed: mowerSpeed,
      ignitionStatus: ignitionStatus,
      isEmergency: isEmergency,
    );
  }

  @override
  Map<String, dynamic> toJson() {
    return {
      'leftSpeed': leftSpeed,
      'rightSpeed': rightSpeed,
      'chassisLift': chassisLift,
      'mowerSpeed': mowerSpeed,
      'ignitionStatus': ignitionStatus,
      'isEmergency': isEmergency,
    };
  }

  Uint8List encodeRemoteControlPayload({
    required int left,
    required int right,
    int lift = 0,
    int mower = 0,
    int ignition = 0,
    int emergency = 0,
  }) {
    final bd = ByteData(8); // 只分配 8 字节
    int pos = 0;

    bd.setInt16(pos, left, Endian.little);
    pos += 2;
    bd.setInt16(pos, right, Endian.little);
    pos += 2;
    bd.setUint8(pos++, lift);
    bd.setUint8(pos++, mower);
    bd.setUint8(pos++, ignition);
    bd.setUint8(pos++, emergency);

    return bd.buffer.asUint8List();
  }

}