namespace RobotNet10.Shared.Sensor;

/// <summary>
/// PointCloud2 message (sensor_msgs/PointCloud2)
/// This message holds a collection of N-dimensional points, which may
/// contain additional information such as normals, intensity, etc. The
/// point data is stored as a binary blob, its layout described by the
/// contents of the "fields" array.
/// </summary>
public struct PointCloud2
{
    /// <summary>
    /// Header with timestamp and frame ID
    /// </summary>
    public Header Header { get; set; }

    /// <summary>
    /// Height of the cloud
    /// </summary>
    public uint Height { get; set; }

    /// <summary>
    /// Width of the cloud
    /// </summary>
    public uint Width { get; set; }

    /// <summary>
    /// Describes the channels and their layout in the binary data blob
    /// </summary>
    public PointField[] Fields { get; set; }

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

    /// <summary>
    /// Length of a point in bytes
    /// </summary>
    public uint PointStep { get; set; }

    /// <summary>
    /// Length of a row in bytes
    /// </summary>
    public uint RowStep { get; set; }

    /// <summary>
    /// Actual point data, size is (row_step*height)
    /// </summary>
    public byte[] Data { get; set; }

    /// <summary>
    /// True if there are no invalid points
    /// </summary>
    public bool IsDense { get; set; }

    /// <summary>
    /// Default constructor
    /// </summary>
    public PointCloud2()
    {
        Header = new Header();
        Height = 0;
        Width = 0;
        Fields = Array.Empty<PointField>();
        IsBigendian = false;
        PointStep = 0;
        RowStep = 0;
        Data = Array.Empty<byte>();
        IsDense = false;
    }
}

/// <summary>
/// PointField message (sensor_msgs/PointField)
/// This message holds the description of one point entry in the PointCloud2 message format
/// </summary>
public struct PointField
{
    /// <summary>
    /// Point field name constants
    /// </summary>
    public const string NameX = "x";
    public const string NameY = "y";
    public const string NameZ = "z";
    public const string NameRgb = "rgb";
    public const string NameIntensity = "intensity";

    /// <summary>
    /// Name of field
    /// </summary>
    public string Name { get; set; }

    /// <summary>
    /// Offset from start of point struct
    /// </summary>
    public uint Offset { get; set; }

    /// <summary>
    /// Datatype enumeration constants
    /// </summary>
    public const byte Int8 = 1;
    public const byte Uint8 = 2;
    public const byte Int16 = 3;
    public const byte Uint16 = 4;
    public const byte Int32 = 5;
    public const byte Uint32 = 6;
    public const byte Float32 = 7;
    public const byte Float64 = 8;

    /// <summary>
    /// Datatype enumeration (Datatype constants)
    /// </summary>
    public byte Datatype { get; set; }

    /// <summary>
    /// How many elements in field
    /// </summary>
    public uint Count { get; set; }

    /// <summary>
    /// Default constructor
    /// </summary>
    public PointField()
    {
        Name = string.Empty;
        Offset = 0;
        Datatype = 0;
        Count = 0;
    }
}