using System.Runtime.InteropServices;

namespace RobotNet10.RobotApp.MarkerDetection;

/// <summary>
/// C-compatible structs for marker_detection C API interop
/// Based on marker_detection_cpp-main/include/marker_detection_c_api.h
/// </summary>

/// <summary>
/// Unix timestamp with seconds and nanoseconds (md_unix_time_t)
/// </summary>
[StructLayout(LayoutKind.Sequential)]
public struct md_unix_time_t
{
    public uint sec;
    public uint nsec;
}

/// <summary>
/// Message header (md_header_t)
/// </summary>
[StructLayout(LayoutKind.Sequential)]
public struct md_header_t
{
    public uint seq;
    public md_unix_time_t stamp;
    public IntPtr frame_id; // char* - must be allocated and freed
}

/// <summary>
/// 2D Pose (md_pose2d_t)
/// </summary>
[StructLayout(LayoutKind.Sequential)]
public struct md_pose2d_t
{
    public double x;
    public double y;
    public double theta;
}

/// <summary>
/// 3D Pose (md_pose_t)
/// </summary>
[StructLayout(LayoutKind.Sequential)]
public struct md_pose_t
{
    [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)]
    public double[] position;    // [3] - x, y, z
    
    [MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)]
    public double[] orientation; // [4] - x, y, z, w (quaternion)
}

/// <summary>
/// Pose Stamped (md_pose_stamped_t)
/// </summary>
[StructLayout(LayoutKind.Sequential)]
public struct md_pose_stamped_t
{
    public md_header_t header;
    public md_pose_t pose;
}

/// <summary>
/// LaserScan message (md_laserscan_t)
/// </summary>
[StructLayout(LayoutKind.Sequential)]
public struct md_laserscan_t
{
    public md_header_t header;
    public float angle_min;
    public float angle_max;
    public float angle_increment;
    public float time_increment;
    public float scan_time;
    public float range_min;
    public float range_max;
    
    public IntPtr ranges;               // float* - pointer to array
    public nuint ranges_length;          // size_t - number of elements
    
    public IntPtr intensities;          // float* - pointer to array
    public nuint intensities_length;     // size_t - number of elements
}

/// <summary>
/// Rectangle marker options (md_rectangle_marker_options_t)
/// </summary>
[StructLayout(LayoutKind.Sequential)]
public struct md_rectangle_marker_options_t
{
    public IntPtr marker_frame_id;       // char* - must be allocated and freed
    public double marker_length;
    public double marker_width;
    public double marker_geometric_error;
    public double marker_intensity_threshold_;
    public double angle_min_of_scan;
    public double angle_max_of_scan;
    public double min_range_of_scan;
    public double max_range_of_scan;
    public int use_estimate_marker_pose; // bool
    public double max_position_error;
    public double max_yaw_angle_error;
    public ushort num_filter_samples;
    public double leg_thickness_offset;
    public int run_debug; // bool
}

/// <summary>
/// Segment marker options (md_segment_marker_options_t)
/// </summary>
[StructLayout(LayoutKind.Sequential)]
public struct md_segment_marker_options_t
{
    public IntPtr marker_frame_id;       // char* - must be allocated and freed
    public double marker_length;
    public double marker_geometric_error;
    public double marker_intensity_threshold_;
    public double angle_min_of_scan;
    public double angle_max_of_scan;
    public double min_range_of_scan;
    public double max_range_of_scan;
    public int use_estimate_marker_pose; // bool
    public double max_position_error;
    public double max_yaw_angle_error;
    public ushort num_filter_samples;
    public double leg_thickness_offset;
    public int run_debug; // bool
}