RobotApp/RobotApp/Services/Robot/RobotLocalization.cs

using RobotApp.Common.Shares;
using RobotApp.Interfaces;
using RobotApp.Services.Robot.Simulation;

namespace RobotApp.Services.Robot;

public class Xloc
{
    public double X { get; set; }
    public double Y { get; set; }
    public double Theta { get; set; }
    public string SlamState { get; set; } = string.Empty;
    public string SlamStateDetail { get; set; } = string.Empty;
    public string CurrentActiveMap { get; set; } = string.Empty;
    public double Reliability { get; set; }
    public double MatchingScore { get; set; }
    public bool IsReady { get; set; }
}

public class RobotLocalization(RobotConfiguration RobotConfiguration, SimulationVisualization SimVisualization) : ILocalization
{
    public double X => IsSimulation ? SimVisualization.X : Xloc.X;

    public double Y => IsSimulation ? SimVisualization.Y : Xloc.Y;

    public double Theta => IsSimulation ? SimVisualization.Theta * Math.PI / 180 : Xloc.Theta;

    public string SlamState => IsSimulation ? "Localization" : Xloc.SlamState;

    public string SlamStateDetail => IsSimulation ? "" : Xloc.SlamStateDetail;

    public string CurrentActiveMap => IsSimulation ? "" : Xloc.CurrentActiveMap;

    public double Reliability => IsSimulation ? 100 : Xloc.Reliability;

    public double MatchingScore => IsSimulation ? 100 : Xloc.MatchingScore;

    public bool IsReady => IsSimulation || Xloc.IsReady;


    private readonly Xloc Xloc = new();
    private readonly bool IsSimulation = RobotConfiguration.IsSimulation;

    public MessageResult ActivateMap(string mapName)
    {
        throw new NotImplementedException();
    }

    public MessageResult ChangeMapOrigin(double x, double y, double theta)
    {
        throw new NotImplementedException();
    }

    public MessageResult SetInitializePosition(double x, double y, double theta)
    {
        throw new NotImplementedException();
    }

    public MessageResult StartLocalization()
    {
        throw new NotImplementedException();
    }

    public MessageResult StartMapping(double resolution)
    {
        throw new NotImplementedException();
    }

    public MessageResult StopLocalization()
    {
        throw new NotImplementedException();
    }

    public MessageResult StopMapping(string mapName)
    {
        throw new NotImplementedException();
    }

    public MessageResult SwitchMap(string mapName, double x, double y, double theta)
    {
        throw new NotImplementedException();
    }
}