namespace RobotNet10.RobotApp.Client.Shared.Motion;

/// <summary>
/// DTO cho thông tin Odometry từ IOdometryEstimator
/// SignalR serialization-friendly version using simple properties
/// instead of System.Numerics types which don't serialize properly with System.Text.Json
/// </summary>
public class OdometryDto
{
    /// <summary>
    /// Timestamp của pose
    /// </summary>
    public DateTime Timestamp { get; set; }

    /// <summary>
    /// Frame ID (header.frame_id, parent frame, typically "odom")
    /// </summary>
    public string FrameId { get; set; } = "odom";

    /// <summary>
    /// Child frame ID (typically "base_link" or "base_footprint") - cùng giá trị gửi lên XLOC
    /// </summary>
    public string ChildFrameId { get; set; } = "base_link";

    /// <summary>
    /// Position X (meters)
    /// </summary>
    public double PositionX { get; set; }

    /// <summary>
    /// Position Y (meters)
    /// </summary>
    public double PositionY { get; set; }

    /// <summary>
    /// Position Z (meters)
    /// </summary>
    public double PositionZ { get; set; }

    /// <summary>
    /// Orientation Quaternion X
    /// </summary>
    public double OrientationX { get; set; }

    /// <summary>
    /// Orientation Quaternion Y
    /// </summary>
    public double OrientationY { get; set; }

    /// <summary>
    /// Orientation Quaternion Z
    /// </summary>
    public double OrientationZ { get; set; }

    /// <summary>
    /// Orientation Quaternion W
    /// </summary>
    public double OrientationW { get; set; }

    /// <summary>
    /// Tần số update odometry hiện tại (Hz)
    /// </summary>
    public double UpdateFrequency { get; set; }

    /// <summary>
    /// Vận tốc tuyến tính X (m/s) - hướng tiến
    /// </summary>
    public double LinearVelocityX { get; set; }

    /// <summary>
    /// Vận tốc tuyến tính Y (m/s)
    /// </summary>
    public double LinearVelocityY { get; set; }

    /// <summary>
    /// Vận tốc tuyến tính Z (m/s)
    /// </summary>
    public double LinearVelocityZ { get; set; }

    /// <summary>
    /// Vận tốc góc X (rad/s)
    /// </summary>
    public double AngularVelocityX { get; set; }

    /// <summary>
    /// Vận tốc góc Y (rad/s)
    /// </summary>
    public double AngularVelocityY { get; set; }

    /// <summary>
    /// Vận tốc góc Z (rad/s) - quay quanh trục dọc
    /// </summary>
    public double AngularVelocityZ { get; set; }
}