using SharpBrick.PoweredUp;
using SharpBrick.PoweredUp.WinRT; // for WinRT Bluetooth NuGet

var serviceProvider = new ServiceCollection()
    .AddLogging()
    .AddPoweredUp()
    .AddWinRTBluetooth() // using WinRT Bluetooth on Windows
    .BuildServiceProvider();
    
var host = serviceProvider.GetService<PoweredUpHost>();

var hub = await host.DiscoverAsync<TechnicMediumHub>();
await hub.ConnectAsync();

var host = serviceProvider.GetService<PoweredUpHost>();

var cts = new CancellationTokenSource();
host.Discover(async hub =>
{
    await hub.ConnectAsync(); // to get some more properties from it

    // show in UI
}, cts.Token);

// Cancel Button => cts.Cancel();

// do hub discovery before

using (var technicMediumHub = hub as TechnicMediumHub)
{
    // optionally verify if everything is wired up correctly (v2.0 onwards)
    await technicMediumHub.VerifyDeploymentModelAsync(modelBuilder => modelBuilder
        .AddHub<TechnicMediumHub>(hubBuilder => hubBuilder
            .AddDevice<TechnicXLargeLinearMotor>(technicMediumHub.A)
        )
    );

    await technicMediumHub.RgbLight.SetRgbColorsAsync(0x00, 0xff, 0x00);

    var motor = technicMediumHub.A.GetDevice<TechnicXLargeLinearMotor>();

    await motor.GotoPositionAsync(45, 10, 100, PortOutputCommandSpecialSpeed.Brake);
    await Task.Delay(2000);
    await motor.GotoPositionAsync(-45, 10, 100, PortOutputCommandSpecialSpeed.Brake);

    await technicMediumHub.SwitchOffAsync();
}

var motor = technicMediumHub.A.GetDevice<TechnicXLargeLinearMotor>();

await motor.SetupNotificationAsync(motor.ModeIndexAbsolutePosition, true);

// observe using System.Reactive
var disposable = motor.AbsolutePositionObservable.Subscribe(x => Console.WriteLine(x.SI));
// ... once finished observing (do not call immediately afterwards ;))
disposable.Dispose();

// OR manually observe it
Console.WriteLine(motor.AbsolutePosition);

// deployment model verification with unknown devices
await technicMediumHub.VerifyDeploymentModelAsync(mb => mb
    .AddAnyHub(hubBuilder => hubBuilder
        .AddAnyDevice(0))
    );

var dynamicDeviceWhichIsAMotor = technicMediumHub.Port(0).GetDevice<DynamicDevice>();

// or also direct from a protocol
//var dynamicDeviceWhichIsAMotor = new DynamicDevice(technicMediumHub.Protocol, technicMediumHub.HubId, 0);

// discover the unknown device using the LWP (since no cached metadata available)
await dynamicDeviceWhichIsAMotor.DiscoverAsync();

// use combined mode values from the device
await dynamicDeviceWhichIsAMotor.TryLockDeviceForCombinedModeNotificationSetupAsync(2, 3);
await dynamicDeviceWhichIsAMotor.SetupNotificationAsync(2, true);
await dynamicDeviceWhichIsAMotor.SetupNotificationAsync(3, true);
await dynamicDeviceWhichIsAMotor.UnlockFromCombinedModeNotificationSetupAsync(true);

// get the individual modes for input and output
var powerMode = dynamicDeviceWhichIsAMotor.SingleValueMode<sbyte>(0);
var posMode = dynamicDeviceWhichIsAMotor.SingleValueMode<int>(2);
var aposMode = dynamicDeviceWhichIsAMotor.SingleValueMode<short>(3);

// use their observables to report values
using var disposable = posMode.Observable.Subscribe(x => Console.WriteLine($"Position: {x.SI} / {x.Pct}"));
using var disposable2 = aposMode.Observable.Subscribe(x => Console.WriteLine($"Absolute Position: {x.SI} / {x.Pct}"));

// or even write to them
await powerMode.WriteDirectModeDataAsync(0x64); // That is StartPower(100%) on a motor
await Task.Delay(2_000);
await powerMode.WriteDirectModeDataAsync(0x00); // That is Stop on a motor

Console.WriteLine($"Or directly read the latest value: {aposMode.SI} / {aposMode.Pct}%");

var serviceProvider = new ServiceCollection()
    .AddLogging()
    .AddPoweredUp()
    .AddWinRTBluetooth() // using WinRT Bluetooth on Windows
    .BuildServiceProvider();

using (var scope = serviceProvider.CreateScope()) // create a scoped DI container per intented active connection/protocol. If disposed, disposes all disposable artifacts.
{
    // init BT layer with right bluetooth address
    scope.ServiceProvider.GetService<BluetoothKernel>().BluetoothAddress = bluetoothAddress;

    var protocol = scope.GetService<ILegoWirelessProtocol>();

    await protocol.ConnectAsync(); // also connects underlying BT connection
    
    using disposable = protocol.UpstreamMessages.Subscribe(message =>
    {
        if (message is HubPropertyMessage<string> msg)
        {
            Console.WriteLine($"Hub Property - {msg.Property}: {msg.Payload}");
        }
    });

    await protocol.SendMessageAsync(new HubPropertyMessage() { 
        Property = HubProperty.AdvertisingName, 
        Operation = HubPropertyOperation.RequestUpdate
    });

    Console.Readline(); // allow the messages to be processed and displayed. (alternative: SendMessageReceiveResultAsync, SendPortOutputCommandAsync, ..)

    // fun with light on hub 0 and built-in LED on port 50
    var rgbLight = new RgbLight(protocol, 0, 50);
    await rgbLight.SetRgbColorsAsync(0x00, 0xff, 0x00);

    // fun with motor on hub 0 and port 0
    var motor = new TechnicXLargeLinearMotor(protocol, 0, 0);
    await motor.GotoPositionAsync(45, 10, 100, PortOutputCommandSpecialSpeed.Brake);
    await Task.Delay(2000);
    await motor.GotoPositionAsync(-45, 10, 100, PortOutputCommandSpecialSpeed.Brake);
}