namespace RobotNet10.Shared.Sensor;

/// <summary>
/// NavSatFix message (sensor_msgs/NavSatFix)
/// Navigation Satellite fix for any Global Navigation Satellite System
/// </summary>
public struct NavSatFix
{
    /// <summary>
    /// Header with timestamp and frame ID
    /// </summary>
    public Header Header { get; set; }

    /// <summary>
    /// Navigation Satellite fix status constants
    /// </summary>
    public const short StatusNoFix = -1;
    public const short StatusFix = 0;
    public const short StatusSbasFix = 1;
    public const short StatusGbasFix = 2;

    /// <summary>
    /// Navigation Satellite fix status (Status constants)
    /// </summary>
    public short Status { get; set; }

    /// <summary>
    /// Service constants
    /// </summary>
    public const ushort ServiceGps = 1;
    public const ushort ServiceGlonass = 2;
    public const ushort ServiceCompass = 4;
    public const ushort ServiceGalileo = 8;

    /// <summary>
    /// Service which is being used (Service constants)
    /// </summary>
    public ushort Service { get; set; }

    /// <summary>
    /// Latitude in degrees
    /// </summary>
    public double Latitude { get; set; }

    /// <summary>
    /// Longitude in degrees
    /// </summary>
    public double Longitude { get; set; }

    /// <summary>
    /// Altitude in meters
    /// </summary>
    public double Altitude { get; set; }

    /// <summary>
    /// Position covariance matrix (row-major about x, y, z axes)
    /// Size: 9 (3x3 matrix)
    /// </summary>
    public double[] PositionCovariance { get; set; }

    /// <summary>
    /// Size of position covariance matrix (3x3 = 9 elements)
    /// </summary>
    public const int PositionCovarianceSize = 9;

    /// <summary>
    /// Position covariance type constants
    /// </summary>
    public const byte CovarianceTypeUnknown = 0;
    public const byte CovarianceTypeApproximated = 1;
    public const byte CovarianceTypeDiagonalKnown = 2;
    public const byte CovarianceTypeKnown = 3;

    /// <summary>
    /// Position covariance type (CovarianceType constants)
    /// </summary>
    public byte PositionCovarianceType { get; set; }

    /// <summary>
    /// Default constructor
    /// </summary>
    public NavSatFix()
    {
        Header = new Header();
        Status = StatusNoFix;
        Service = 0;
        Latitude = 0.0;
        Longitude = 0.0;
        Altitude = 0.0;
        PositionCovariance = new double[PositionCovarianceSize];
        PositionCovarianceType = CovarianceTypeUnknown;
    }
}

/// <summary>
/// NavSatStatus message (sensor_msgs/NavSatStatus)
/// Navigation Satellite fix status for any Global Navigation Satellite System
/// </summary>
public struct NavSatStatus
{
    /// <summary>
    /// Status constants
    /// </summary>
    public const sbyte StatusNoFix = -1;
    public const sbyte StatusFix = 0;
    public const sbyte StatusSbasFix = 1;
    public const sbyte StatusGbasFix = 2;

    /// <summary>
    /// Status (Status constants)
    /// </summary>
    public sbyte Status { get; set; }

    /// <summary>
    /// Service constants
    /// </summary>
    public const ushort ServiceGps = 1;
    public const ushort ServiceGlonass = 2;
    public const ushort ServiceCompass = 4;
    public const ushort ServiceGalileo = 8;

    /// <summary>
    /// Service which is being used (Service constants)
    /// </summary>
    public ushort Service { get; set; }

    /// <summary>
    /// Default constructor
    /// </summary>
    public NavSatStatus()
    {
        Status = StatusNoFix;
        Service = 0;
    }
}