import 'package:flutter_riverpod/flutter_riverpod.dart';
import 'package:shared_preferences/shared_preferences.dart';

final calibrationServiceProvider = Provider<CalibrationService>((ref) {
  return CalibrationService();
});

class CalibrationService {
  static const _pitchKey = 'calibration_pitch';
  static const _rollKey = 'calibration_roll';
  static const _gyroBiasXKey = 'calibration_gyro_bias_x';
  static const _gyroBiasYKey = 'calibration_gyro_bias_y';
  static const _gyroBiasZKey = 'calibration_gyro_bias_z';
  static const _isCalibratedKey = 'calibration_is_calibrated';
  static const _accelCalXKey = 'calibration_accel_x';
  static const _accelCalYKey = 'calibration_accel_y';
  static const _accelCalZKey = 'calibration_accel_z';
  static const _mountModeKey = 'calibration_mount_mode';
  static const _calibratedAtKey = 'calibration_timestamp_ms';

  Future<void> saveCalibrationOffsets(
    double pitch,
    double roll, {
    double gyroBiasX = 0.0,
    double gyroBiasY = 0.0,
    double gyroBiasZ = 0.0,
    double accelCalX = 0.0,
    double accelCalY = 0.0,
    double accelCalZ = 0.0,
    String mountMode = 'portrait',
    bool isCalibrated = true,
    int? motorcycleId,
  }) async {
    final prefs = await SharedPreferences.getInstance();
    final nowMs = DateTime.now().millisecondsSinceEpoch;
    if (motorcycleId != null) {
      await prefs.setDouble('calibration_pitch_$motorcycleId', pitch);
      await prefs.setDouble('calibration_roll_$motorcycleId', roll);
      await prefs.setDouble('calibration_gyro_bias_x_$motorcycleId', gyroBiasX);
      await prefs.setDouble('calibration_gyro_bias_y_$motorcycleId', gyroBiasY);
      await prefs.setDouble('calibration_gyro_bias_z_$motorcycleId', gyroBiasZ);
      await prefs.setBool(
        'calibration_is_calibrated_$motorcycleId',
        isCalibrated,
      );
      await prefs.setDouble('calibration_accel_x_$motorcycleId', accelCalX);
      await prefs.setDouble('calibration_accel_y_$motorcycleId', accelCalY);
      await prefs.setDouble('calibration_accel_z_$motorcycleId', accelCalZ);
      await prefs.setString('calibration_mount_mode_$motorcycleId', mountMode);
      await prefs.setInt('calibration_timestamp_ms_$motorcycleId', nowMs);
    }
    // Also save global fallback
    await prefs.setDouble(_pitchKey, pitch);
    await prefs.setDouble(_rollKey, roll);
    await prefs.setDouble(_gyroBiasXKey, gyroBiasX);
    await prefs.setDouble(_gyroBiasYKey, gyroBiasY);
    await prefs.setDouble(_gyroBiasZKey, gyroBiasZ);
    await prefs.setBool(_isCalibratedKey, isCalibrated);
    await prefs.setDouble(_accelCalXKey, accelCalX);
    await prefs.setDouble(_accelCalYKey, accelCalY);
    await prefs.setDouble(_accelCalZKey, accelCalZ);
    await prefs.setString(_mountModeKey, mountMode);
    await prefs.setInt(_calibratedAtKey, nowMs);
  }

  Future<void> clearCalibration({int? motorcycleId}) async {
    final prefs = await SharedPreferences.getInstance();
    if (motorcycleId != null) {
      await prefs.setBool('calibration_is_calibrated_$motorcycleId', false);
      await prefs.setDouble('calibration_pitch_$motorcycleId', 0.0);
      await prefs.setDouble('calibration_roll_$motorcycleId', 0.0);
      await prefs.setDouble('calibration_gyro_bias_x_$motorcycleId', 0.0);
      await prefs.setDouble('calibration_gyro_bias_y_$motorcycleId', 0.0);
      await prefs.setDouble('calibration_gyro_bias_z_$motorcycleId', 0.0);
      await prefs.setDouble('calibration_accel_x_$motorcycleId', 0.0);
      await prefs.setDouble('calibration_accel_y_$motorcycleId', 0.0);
      await prefs.setDouble('calibration_accel_z_$motorcycleId', 0.0);
    }
    await prefs.setBool(_isCalibratedKey, false);
    await prefs.setDouble(_pitchKey, 0.0);
    await prefs.setDouble(_rollKey, 0.0);
    await prefs.setDouble(_gyroBiasXKey, 0.0);
    await prefs.setDouble(_gyroBiasYKey, 0.0);
    await prefs.setDouble(_gyroBiasZKey, 0.0);
    await prefs.setDouble(_accelCalXKey, 0.0);
    await prefs.setDouble(_accelCalYKey, 0.0);
    await prefs.setDouble(_accelCalZKey, 0.0);
  }

  Future<Map<String, double>> loadCalibrationOffsets({
    int? motorcycleId,
  }) async {
    final prefs = await SharedPreferences.getInstance();
    if (motorcycleId != null) {
      final bikePitch = prefs.getDouble('calibration_pitch_$motorcycleId');
      final bikeRoll = prefs.getDouble('calibration_roll_$motorcycleId');
      final bikeGbx =
          prefs.getDouble('calibration_gyro_bias_x_$motorcycleId') ?? 0.0;
      final bikeGby =
          prefs.getDouble('calibration_gyro_bias_y_$motorcycleId') ?? 0.0;
      final bikeGbz =
          prefs.getDouble('calibration_gyro_bias_z_$motorcycleId') ?? 0.0;
      final isCal = prefs.getBool('calibration_is_calibrated_$motorcycleId');
      final ax = prefs.getDouble('calibration_accel_x_$motorcycleId') ?? 0.0;
      final ay = prefs.getDouble('calibration_accel_y_$motorcycleId') ?? 0.0;
      final az = prefs.getDouble('calibration_accel_z_$motorcycleId') ?? 0.0;
      if (bikePitch != null && bikeRoll != null) {
        return {
          'pitch': bikePitch,
          'roll': bikeRoll,
          'gyroBiasX': bikeGbx,
          'gyroBiasY': bikeGby,
          'gyroBiasZ': bikeGbz,
          'isCalibrated': (isCal == true) ? 1.0 : 0.0,
          'accelCalX': ax,
          'accelCalY': ay,
          'accelCalZ': az,
        };
      }
    }
    final pitch = prefs.getDouble(_pitchKey) ?? 0.0;
    final roll = prefs.getDouble(_rollKey) ?? 0.0;
    final gbx = prefs.getDouble(_gyroBiasXKey) ?? 0.0;
    final gby = prefs.getDouble(_gyroBiasYKey) ?? 0.0;
    final gbz = prefs.getDouble(_gyroBiasZKey) ?? 0.0;
    final isCal = prefs.getBool(_isCalibratedKey);
    final ax = prefs.getDouble(_accelCalXKey) ?? 0.0;
    final ay = prefs.getDouble(_accelCalYKey) ?? 0.0;
    final az = prefs.getDouble(_accelCalZKey) ?? 0.0;
    return {
      'pitch': pitch,
      'roll': roll,
      'gyroBiasX': gbx,
      'gyroBiasY': gby,
      'gyroBiasZ': gbz,
      'isCalibrated': (isCal == true) ? 1.0 : 0.0,
      'accelCalX': ax,
      'accelCalY': ay,
      'accelCalZ': az,
    };
  }

  Future<String?> loadMountMode({int? motorcycleId}) async {
    final prefs = await SharedPreferences.getInstance();
    if (motorcycleId != null) {
      final mode = prefs.getString('calibration_mount_mode_$motorcycleId');
      if (mode != null) return mode;
    }
    return prefs.getString(_mountModeKey);
  }
}