namespace RobotNet10.NavigationTune.Shared.Models;

/// <summary>
/// Navigation phase for telemetry segmentation.
/// </summary>
public enum TelemetryPhase
{
    InitialRotation = 0,
    PathFollowing = 1,
    FinalApproach = 2,
    FinalRotation = 3,
    Completed = 4
}

/// <summary>
/// Telemetry data collected during test execution
/// </summary>
public class TelemetryData
{
    public long TimestampMs { get; set; }
    public Pose2D RobotPose { get; set; }      // X, Y, Theta
    public Twist2D RobotTwist { get; set; }    // Linear, Angular velocity (estimated)
    public Twist2D CommandTwist { get; set; }  // Linear, Angular velocity (commanded)
    public Pose2D ReferencePose { get; set; }  // Closest point on reference path
    public double CrossTrackError { get; set; } // meters
    public double HeadingError { get; set; }    // radians
    public double LookaheadDistance { get; set; } // meters
    public double ModelConfidence { get; set; }  // 0.0 - 1.0
    public double DistanceToGoal { get; set; } // meters
    public TelemetryPhase? Phase { get; set; }  // Navigation phase (null for legacy data)
}