using RobotNet10.Shared.Geometry;

namespace RobotNet10.RobotApp.SLAM.Cartographer;

/// <summary>
/// Sensor configuration
/// </summary>
public class SensorConfiguration
{
    /// <summary>
    /// Lidar sensor configurations (multiple lidars supported)
    /// </summary>
    public List<LidarSensorConfiguration> Lidars { get; set; } = [];

    /// <summary>
    /// IMU sensor configuration (only one IMU supported by CartographerSharp)
    /// </summary>
    public ImuSensorConfiguration Imu { get; set; } = new();

    /// <summary>
    /// Sampling ratio for sensor data (0.0 to 1.0)
    /// - 1.0 = process all messages (default)
    /// - 0.5 = process 50% of messages
    /// - 0.0 = process no messages
    /// Based on xloc flow: sampling ratio to reduce message overload
    /// </summary>
    public double? SamplingRatio { get; set; }

    /// <summary>
    /// Sampling ratio for Lidar data (overrides global SamplingRatio if set)
    /// </summary>
    public double? LidarSamplingRatio { get; set; }

    /// <summary>
    /// Sampling ratio for IMU data (overrides global SamplingRatio if set)
    /// </summary>
    public double? ImuSamplingRatio { get; set; }

    /// <summary>
    /// Sampling ratio for Odometry data (overrides global SamplingRatio if set)
    /// </summary>
    public double? OdometrySamplingRatio { get; set; }

    /// <summary>
    /// Odometry update interval in milliseconds.
    /// Odometry is polled at this interval from the odometry estimator.
    /// Default: 5ms (200Hz). Lower values = higher frequency, more CPU usage.
    /// Recommended: 5-20ms (50-200Hz)
    /// </summary>
    public int OdometryUpdateIntervalMs { get; set; } = 5;

    /// <summary>
    /// IMU update interval in milliseconds.
    /// IMU data is processed at this minimum interval (rate limiting).
    /// Default: 5ms (200Hz). Set to 0 to process all IMU events without rate limiting.
    /// Recommended: 0-10ms (100Hz-unlimited)
    /// </summary>
    public int ImuUpdateIntervalMs { get; set; } = 5;
}

/// <summary>
/// Lidar sensor configuration
/// </summary>
public class LidarSensorConfiguration
{
    /// <summary>
    /// Device ID from IDeviceProvider
    /// </summary>
    public string DeviceId { get; set; } = string.Empty;

    /// <summary>
    /// Enable or disable this lidar
    /// </summary>
    public bool Enabled { get; set; } = true;

    /// <summary>
    /// Transform from lidar frame to base_link frame
    /// </summary>
    public Transform Transform { get; set; }

    /// <summary>
    /// Minimum angle for filtering point cloud (degrees).
    /// Points with angle less than this will be filtered out.
    /// If null, no minimum angle filtering is applied.
    /// </summary>
    public double? AngleMin { get; set; }

    /// <summary>
    /// Maximum angle for filtering point cloud (degrees).
    /// Points with angle greater than this will be filtered out.
    /// If null, no maximum angle filtering is applied.
    /// </summary>
    public double? AngleMax { get; set; }
}

/// <summary>
/// IMU sensor configuration
/// </summary>
public class ImuSensorConfiguration
{
    /// <summary>
    /// Device ID from IDeviceProvider
    /// </summary>
    public string DeviceId { get; set; } = string.Empty;

    /// <summary>
    /// Enable or disable this IMU
    /// </summary>
    public bool Enabled { get; set; } = false;

    /// <summary>
    /// Transform from IMU frame to base_link frame
    /// </summary>
    public Transform Transform { get; set; }
}