namespace RobotNet10.Shared.Sensor;

/// <summary>
/// Image message (sensor_msgs/Image)
/// This message contains an uncompressed image
/// </summary>
public struct Image
{
    /// <summary>
    /// Header with timestamp and frame ID
    /// </summary>
    public Header Header { get; set; }

    /// <summary>
    /// Image height (rows)
    /// </summary>
    public uint Height { get; set; }

    /// <summary>
    /// Image width (columns)
    /// </summary>
    public uint Width { get; set; }

    /// <summary>
    /// Encoding of pixels -- channel meaning, ordering, size
    /// </summary>
    public string Encoding { get; set; }

    /// <summary>
    /// Is this data bigendian?
    /// </summary>
    public byte IsBigendian { get; set; }

    /// <summary>
    /// Full row length in bytes
    /// </summary>
    public uint Step { get; set; }

    /// <summary>
    /// Actual matrix data, size is (step * rows)
    /// </summary>
    public byte[] Data { get; set; }

    /// <summary>
    /// Default constructor
    /// </summary>
    public Image()
    {
        Header = new Header();
        Height = 0;
        Width = 0;
        Encoding = string.Empty;
        IsBigendian = 0;
        Step = 0;
        Data = [];
    }
}