/*
 * Copyright 2016 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

using System.Text.Json.Serialization;

namespace CartographerSharp.Models.Mapping;

/// <summary>
/// Protocol buffer representation of submap query response.
/// </summary>
public struct SubmapQuery
{
    public struct Response
    {
        [JsonPropertyName("submap_version")]
        public int SubmapVersion { get; set; }

        [JsonPropertyName("textures")]
        public List<Texture> Textures { get; set; }

        [JsonPropertyName("error_message")]
        public string? ErrorMessage { get; set; }

        public Response(int submapVersion, List<Texture> textures, string? errorMessage = null)
        {
            SubmapVersion = submapVersion;
            Textures = textures ?? new List<Texture>();
            ErrorMessage = errorMessage;
        }
    }

    public struct Texture
    {
        [JsonPropertyName("cells")]
        public List<byte> Cells { get; set; }

        [JsonPropertyName("width")]
        public int Width { get; set; }

        [JsonPropertyName("height")]
        public int Height { get; set; }

        [JsonPropertyName("resolution")]
        public double Resolution { get; set; }

        [JsonPropertyName("slice_pose")]
        public Transform.Rigid3dProto SlicePose { get; set; }

        public Texture(
            List<byte> cells,
            int width,
            int height,
            double resolution,
            Transform.Rigid3dProto slicePose)
        {
            Cells = cells ?? new List<byte>();
            Width = width;
            Height = height;
            Resolution = resolution;
            SlicePose = slicePose;
        }
    }
}