namespace RobotNet10.Shared.Sensor;

/// <summary>
/// Joy message (sensor_msgs/Joy)
/// Reports the state of a joystick's axes and buttons
/// </summary>
public struct Joy
{
    /// <summary>
    /// Header with timestamp and frame ID
    /// </summary>
    public Header Header { get; set; }

    /// <summary>
    /// The axes measurements from a joystick
    /// </summary>
    public double[] Axes { get; set; }

    /// <summary>
    /// The buttons measurements from a joystick
    /// </summary>
    public int[] Buttons { get; set; }

    /// <summary>
    /// Default constructor
    /// </summary>
    public Joy()
    {
        Header = new Header();
        Axes = [];
        Buttons = [];
    }
}

/// <summary>
/// JoyFeedback message (sensor_msgs/JoyFeedback)
/// Reports the state of a joystick's axes and buttons
/// </summary>
public struct JoyFeedback
{
    /// <summary>
    /// Type constants
    /// </summary>
    public const byte TypeLed = 0;
    public const byte TypeRumble = 1;
    public const byte TypeBuzzer = 2;

    /// <summary>
    /// Type of feedback (Type constants)
    /// </summary>
    public byte Type { get; set; }

    /// <summary>
    /// This will hold an id number for each type of each feedback.
    /// Example, the first led would be id=0, the second would be id=1
    /// </summary>
    public byte Id { get; set; }

    /// <summary>
    /// Intensity of the feedback, from 0.0 to 1.0, inclusive.  If device is
    /// actually binary, driver should treat 0<=x<0.5 as off, 0.5<=x<=1.0 as on.
    /// </summary>
    public double Intensity { get; set; }

    /// <summary>
    /// Default constructor
    /// </summary>
    public JoyFeedback()
    {
        Type = TypeLed;
        Id = 0;
        Intensity = 0.0;
    }
}

/// <summary>
/// JoyFeedbackArray message (sensor_msgs/JoyFeedbackArray)
/// Array of JoyFeedback
/// </summary>
public struct JoyFeedbackArray
{
    /// <summary>
    /// Array of feedback
    /// </summary>
    public JoyFeedback[] Array { get; set; }

    /// <summary>
    /// Default constructor
    /// </summary>
    public JoyFeedbackArray()
    {
        Array = System.Array.Empty<JoyFeedback>();
    }
}