BQP/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/CommSettings.cs

namespace Sick.SafetyScanners.DataStructures;

/// <summary>
/// Communication settings used to configure the SICK Safety Scanner
/// This structure is used with ChangeCommSettingsCommand to configure scanner parameters
/// </summary>
public sealed class CommSettings
{
    /// <summary>
    /// Gets or sets the channel number (0-3)
    /// </summary>
    public byte Channel { get; init; }
    
    /// <summary>
    /// Gets or sets the publishing frequency (publish every n-th scan)
    /// Example: 1 = publish every scan, 2 = publish every 2nd scan (half frequency)
    /// </summary>
    public ushort PublishingFrequency { get; init; } = 1;
    
    /// <summary>
    /// Gets or sets the interface type
    /// 0: EFI-pro, 1: EtherNet/IP, 3: Profinet, 4: Non-safe Ethernet
    /// </summary>
    public InterfaceType EInterfaceType { get; init; }
    
    /// <summary>
    /// Gets or sets the start angle in radians
    /// If start and end angles are equal, all angles are regarded
    /// </summary>
    public double StartAngle { get; init; }
    
    /// <summary>
    /// Gets or sets the end angle in radians
    /// If start and end angles are equal, all angles are regarded
    /// </summary>
    public double EndAngle { get; init; }
    
    /// <summary>
    /// Gets or sets the enabled features as a bitset (ushort)
    /// Use SensorDataFeatures constants or SensorDataFeatures.ToFeatureFlags() to set
    /// </summary>
    public ushort Features { get; init; } = SensorDataFeatures.All;
    
    /// <summary>
    /// Gets or sets whether general system state feature is enabled
    /// </summary>
    public bool GeneralSystemStateEnabled { get; init; } = true;
    
    /// <summary>
    /// Gets or sets whether derived settings feature is enabled
    /// </summary>
    public bool DerivedSettingsEnabled { get; init; } = true;
    
    /// <summary>
    /// Gets or sets whether measurement data feature is enabled
    /// </summary>
    public bool MeasurementDataEnabled { get; init; } = true;
    
    /// <summary>
    /// Gets or sets whether intrusion data feature is enabled
    /// </summary>
    public bool IntrusionDataEnabled { get; init; } = true;
    
    /// <summary>
    /// Gets or sets whether application data feature is enabled
    /// </summary>
    public bool ApplicationDataEnabled { get; init; } = true;
    
    /// <summary>
    /// Gets or sets whether the channel is enabled
    /// </summary>
    public bool Enabled { get; init; } = true;
    
    /// <summary>
    /// Gets or sets the host UDP port (0 = auto-assign)
    /// </summary>
    public ushort HostUdpPort { get; init; }
    
    /// <summary>
    /// Gets or sets the host IP address as a string (e.g., "192.168.1.100")
    /// </summary>
    public string HostIp { get; init; } = "192.168.1.100";
    
    /// <summary>
    /// Creates a CommSettings with all features enabled
    /// </summary>
    public static CommSettings CreateDefault()
    {
        return new CommSettings
        {
            Channel = 0,
            PublishingFrequency = 1,
            EInterfaceType = InterfaceType.NonSafeEthernet,
            StartAngle = 0.0,
            EndAngle = 0.0, // Equal to start angle means all angles
            Features = SensorDataFeatures.All,
            GeneralSystemStateEnabled = true,
            DerivedSettingsEnabled = true,
            MeasurementDataEnabled = true,
            IntrusionDataEnabled = true,
            ApplicationDataEnabled = true,
            Enabled = true,
            HostUdpPort = 0,
            HostIp = "192.168.1.100"
        };
    }
    
    /// <summary>
    /// Creates a CommSettings with custom feature flags
    /// </summary>
    public static CommSettings Create(
        byte channel,
        string hostIp,
        ushort hostUdpPort,
        bool generalSystemState = true,
        bool derivedSettings = true,
        bool measurementData = true,
        bool intrusionData = true,
        bool applicationData = true,
        ushort publishingFrequency = 1,
        double startAngle = 0.0,
        double endAngle = 0.0,
        InterfaceType interfaceType = InterfaceType.NonSafeEthernet,
        bool enabled = true)
    {
        return new CommSettings
        {
            Channel = channel,
            PublishingFrequency = publishingFrequency,
            EInterfaceType = interfaceType,
            StartAngle = startAngle,
            EndAngle = endAngle,
            Features = SensorDataFeatures.ToFeatureFlags(
                generalSystemState,
                derivedSettings,
                measurementData,
                intrusionData,
                applicationData),
            GeneralSystemStateEnabled = generalSystemState,
            DerivedSettingsEnabled = derivedSettings,
            MeasurementDataEnabled = measurementData,
            IntrusionDataEnabled = intrusionData,
            ApplicationDataEnabled = applicationData,
            Enabled = enabled,
            HostUdpPort = hostUdpPort,
            HostIp = hostIp
        };
    }
}