using RobotNet10.Shared.Numbers;

namespace RobotNet10.RobotApp.Detection;

#region Service Configuration

/// <summary>
/// Configuration for MarkerLandmarkDetector service
/// Loaded from RobotConfig JSON (e.g., ModelConfigs/test.json)
/// </summary>
public class MarkerDetectorConfiguration
{
    /// <summary>
    /// Device transforms: deviceId -> Pose3D in base_link frame
    /// </summary>
    public DeviceTransform[] LidarDevices { get; set; } = [];
    public DeviceTransform[] QrDevices { get; set; } = [];
}

/// <summary>
/// Transform configuration for a device (camera/LiDAR) relative to base_link
/// </summary>
public struct DeviceTransform
{
    public string DeviceId { get; set; }
    /// <summary>
    /// Position (X, Y, Z in meters) in base_link frame
    /// </summary>
    public Vector3 Position { get; set; }

    /// <summary>
    /// Orientation (quaternion) in base_link frame
    /// </summary>
    public Quaternion Orientation { get; set; }

    /// <summary>
    /// Intensity threshold for reflective marker detection (LiDAR devices only)
    /// </summary>
    public double IntensityThreshold { get; set; }
}

#endregion