/*
 * Copyright 2017 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 CartographerSharp.Models.Transform;
using  RobotNet10.Shared.Numbers;

namespace CartographerSharp.Sensor;

/// <summary>
/// IMU data structure.
/// </summary>
public struct ImuData(long time, Vector3 linearAcceleration, Vector3 angularVelocity)
{
    public long Time { get; set; } = time;
    public Vector3 LinearAcceleration { get; set; } = linearAcceleration;
    public Vector3 AngularVelocity { get; set; } = angularVelocity;
}

/// <summary>
/// Operations on ImuData.
/// </summary>
public static class ImuDataOperations
{
    /// <summary>
    /// Converts 'imu_data' to a proto::ImuData.
    /// </summary>
    public static Models.Sensor.ImuData ToProto(ImuData imuData)
    {
        return new Models.Sensor.ImuData(
            imuData.Time,
            new Vector3d(imuData.LinearAcceleration.X, imuData.LinearAcceleration.Y, imuData.LinearAcceleration.Z),
            new Vector3d(imuData.AngularVelocity.X, imuData.AngularVelocity.Y, imuData.AngularVelocity.Z)
        );
    }

    /// <summary>
    /// Converts 'proto' to an ImuData.
    /// </summary>
    public static ImuData FromProto(Models.Sensor.ImuData proto)
    {
        return new ImuData(
            proto.Timestamp,
            new Vector3(proto.LinearAcceleration.X, proto.LinearAcceleration.Y, proto.LinearAcceleration.Z),
            new Vector3(proto.AngularVelocity.X, proto.AngularVelocity.Y, proto.AngularVelocity.Z)
        );
    }
}