namespace RobotNet10.Shared.Sensor;

/// <summary>
/// BatteryState message (sensor_msgs/BatteryState)
/// Describes the state of a battery
/// </summary>
public struct BatteryState
{
    /// <summary>
    /// Header with timestamp and frame ID
    /// </summary>
    public Header Header { get; set; }

    /// <summary>
    /// Voltage in Volts (Mandatory)
    /// </summary>
    public double Voltage { get; set; }

    /// <summary>
    /// Current in Amperes (If not available: NaN)
    /// </summary>
    public double Current { get; set; }

    /// <summary>
    /// Charge in Ah (If not available: NaN)
    /// </summary>
    public double Charge { get; set; }

    /// <summary>
    /// Capacity in Ah (last full capacity) (If not available: NaN)
    /// </summary>
    public double Capacity { get; set; }

    /// <summary>
    /// Design capacity in Ah (If not available: NaN)
    /// </summary>
    public double DesignCapacity { get; set; }

    /// <summary>
    /// Percentage (0-100) (If not available: NaN)
    /// </summary>
    public double Percentage { get; set; }

    /// <summary>
    /// Power supply status constants
    /// </summary>
    public const byte PowerSupplyStatusUnknown = 0;
    public const byte PowerSupplyStatusCharging = 1;
    public const byte PowerSupplyStatusDischarging = 2;
    public const byte PowerSupplyStatusNotCharging = 3;
    public const byte PowerSupplyStatusFull = 4;

    /// <summary>
    /// Power supply status (PowerSupplyStatus constants)
    /// </summary>
    public byte PowerSupplyStatus { get; set; }

    /// <summary>
    /// Power supply health constants
    /// </summary>
    public const byte PowerSupplyHealthUnknown = 0;
    public const byte PowerSupplyHealthGood = 1;
    public const byte PowerSupplyHealthOverheat = 2;
    public const byte PowerSupplyHealthDead = 3;
    public const byte PowerSupplyHealthOvervoltage = 4;
    public const byte PowerSupplyHealthUnspecifiedFailure = 5;
    public const byte PowerSupplyHealthCold = 6;

    /// <summary>
    /// Power supply health (PowerSupplyHealth constants)
    /// </summary>
    public byte PowerSupplyHealth { get; set; }

    /// <summary>
    /// Power supply technology (chemistry) constants
    /// </summary>
    public const byte PowerSupplyTechnologyUnknown = 0;
    public const byte PowerSupplyTechnologyNiMh = 1;
    public const byte PowerSupplyTechnologyLion = 2;
    public const byte PowerSupplyTechnologyLipo = 3;
    public const byte PowerSupplyTechnologyLife = 4;
    public const byte PowerSupplyTechnologyNiCd = 5;
    public const byte PowerSupplyTechnologyLiMn = 6;

    /// <summary>
    /// Power supply technology (PowerSupplyTechnology constants)
    /// </summary>
    public byte PowerSupplyTechnology { get; set; }

    /// <summary>
    /// True if the battery is present
    /// </summary>
    public bool Present { get; set; }

    /// <summary>
    /// An array of individual cell voltages. Each individual cell voltage should be > 0.0.
    /// If not available: empty array
    /// </summary>
    public double[] CellVoltage { get; set; }

    /// <summary>
    /// An array of individual cell temperatures. Each individual cell temperature should be > 0.0.
    /// If not available: empty array
    /// </summary>
    public double[] CellTemperature { get; set; }

    /// <summary>
    /// The location into which the battery is inserted. (slot number or plug)
    /// </summary>
    public string Location { get; set; }

    /// <summary>
    /// The serial number of the battery pack.
    /// </summary>
    public string SerialNumber { get; set; }

    /// <summary>
    /// Default constructor
    /// </summary>
    public BatteryState()
    {
        Header = new Header();
        Voltage = 0.0;
        Current = double.NaN;
        Charge = double.NaN;
        Capacity = double.NaN;
        DesignCapacity = double.NaN;
        Percentage = double.NaN;
        PowerSupplyStatus = PowerSupplyStatusUnknown;
        PowerSupplyHealth = PowerSupplyHealthUnknown;
        PowerSupplyTechnology = PowerSupplyTechnologyUnknown;
        Present = false;
        CellVoltage = [];
        CellTemperature = [];
        Location = string.Empty;
        SerialNumber = string.Empty;
    }
}