namespace RobotNet10.RobotApp.Shared.NavigationMonitor;

/// <summary>
/// Real-time telemetry snapshot from NavigationMonitorService
/// </summary>
public class NavigationTelemetryDto
{
    public long TimestampMs { get; set; }
    public double X { get; set; }
    public double Y { get; set; }
    public double Theta { get; set; } // radians
    public double LinearVelocity { get; set; } // m/s
    public double AngularVelocity { get; set; } // rad/s
    public double LinearAcceleration { get; set; } // m/s²
    public double AngularAcceleration { get; set; } // rad/s²
    public string NavigationState { get; set; } = "Idle";
    public bool Driving { get; set; }
    public double CrossTrackError { get; set; } // meters (0 if no path)
    public double HeadingError { get; set; } // radians (0 if no path)
    public double DistanceToGoal { get; set; } // meters (0 if no path)
    public double ModelConfidence { get; set; }

    /// <summary>
    /// DockTo-specific telemetry (null when not docking)
    /// </summary>
    public DockToTelemetryDto? DockTo { get; set; }

    /// <summary>
    /// Current navigation path waypoints (downsampled for visualization).
    /// Empty when not navigating.
    /// </summary>
    public List<WaypointDto> Waypoints { get; set; } = [];
}

/// <summary>
/// Safety violation detected by NavigationSafetyChecker
/// </summary>
public class NavigationSafetyViolationDto
{
    public long TimestampMs { get; set; }
    public SafetyViolationType Type { get; set; }
    public SafetyViolationSeverity Severity { get; set; }
    public double Value { get; set; }
    public double Threshold { get; set; }
    public string Message { get; set; } = string.Empty;
}

public enum SafetyViolationType
{
    LinearVelocity = 1,
    AngularVelocity = 2,
    LinearAcceleration = 3,
    CrossTrackError = 4,
    HeadingError = 5
}

public enum SafetyViolationSeverity
{
    Warning = 1,
    Critical = 2
}

/// <summary>
/// Current state of NavigationMonitorService
/// </summary>
public class NavigationMonitorStateDto
{
    public bool TelemetryEnabled { get; set; }
    public bool SafetyStopEnabled { get; set; }
    public bool SafetyStopLatched { get; set; }
    public string SafetyStopReason { get; set; } = "";
    public NavigationSafetyConfigDto SafetyConfig { get; set; } = new();
    public double UpdateFrequencyHz { get; set; } = 10;
}

/// <summary>
/// Configurable safety thresholds
/// </summary>
public class NavigationSafetyConfigDto
{
    public double MaxLinearVelocity { get; set; } = 1.5; // m/s
    public double MaxAngularVelocity { get; set; } = 6.0; // rad/s
    public double MaxLinearAcceleration { get; set; } = 3.0; // m/s²
    public double MaxCrossTrackError { get; set; } = 0.5; // meters
    public double MaxHeadingError { get; set; } = 45.0; // degrees
}

/// <summary>
/// DockTo-specific telemetry data, included when robot is in Docking or FinePositioning state
/// </summary>
public class DockToTelemetryDto
{
    public string Phase { get; set; } = ""; // "Approaching", "Aligning", "Advancing"
    public string Direction { get; set; } = ""; // "FORWARD" or "BACKWARD"
    public int RetryCount { get; set; }
    public int MaxRetries { get; set; }
    public double GoalX { get; set; }
    public double GoalY { get; set; }
    public double GoalTheta { get; set; } // radians
    public int TotalWaypoints { get; set; }
    public double StartX { get; set; }
    public double StartY { get; set; }
    public double StartTheta { get; set; } // radians
    public List<DockWaypointDto> Waypoints { get; set; } = [];
}

public class DockWaypointDto
{
    public double X { get; set; }
    public double Y { get; set; }
}

/// <summary>
/// Navigation path waypoint for visualization
/// </summary>
public class WaypointDto
{
    public double X { get; set; }
    public double Y { get; set; }
    public string Direction { get; set; } = "FORWARD"; // "FORWARD" or "BACKWARD"
}