using Newtonsoft.Json;
using System;

public class SendState
{
    [JsonProperty("headerId")]
    public uint HeaderId { get; set; }

    [JsonProperty("timestamp")]
    public string Timestamp { get; set; }

    [JsonProperty("version")]
    public string Version { get; set; }

    [JsonProperty("manufacturer")]
    public string Manufacturer { get; set; }

    [JsonProperty("serialNumber")]
    public string SerialNumber { get; set; }

    [JsonProperty("maps")]
    public Map[] Maps { get; set; }

    [JsonProperty("orderId")]
    public string OrderId { get; set; }

    [JsonProperty("orderUpdateId")]
    public int OrderUpdateId { get; set; }

    [JsonProperty("zoneSetId")]
    public string ZoneSetId { get; set; }
    [JsonProperty("lastNodeId")]
    public string LastNodeId { get; set; }
    [JsonProperty("lastNodeSequenceId")]
    public int LastNodeSequenceId { get; set; }
    [JsonProperty("nodeStates")]
    public NodeState[] NodeStates { get; set; }
    [JsonProperty("edgeStates")]
    public EdgeState[] EdgeStates { get; set; }
    [JsonProperty("driving")]
    public bool Driving { get; set; }
    [JsonProperty("paused")]
    public bool Paused { get; set; }
    [JsonProperty("newBaseRequest")]
    public bool NewBaseRequest { get; set; }
    [JsonProperty("distanceSinceLastNode")]
    public float DistanceSinceLastNode { get; set; }
    [JsonProperty("agvPosition")]
    public AgvPosition AgvPosition { get; set; }
    [JsonProperty("velocity")]
    public Velocity Velocity { get; set; }
    [JsonProperty("loads")]
    public Load[] Loads { get; set; }
    [JsonProperty("actionStates")]
    public ActionState[] ActionStates { get; set; }
    [JsonProperty("batteryState")]
    public BatteryState BatteryState { get; set; }
    [JsonProperty("operatingMode")]
    public string OperatingMode { get; set; }
    [JsonProperty("errors")]
    public Error[] Errors { get; set; }
    [JsonProperty("information")]
    public Information[] Information { get; set; }
    [JsonProperty("safetyState")]
    public SafetyState SafetyState { get; set; }
}

public class CancelConfirmationData
{
    [JsonProperty("headerId")]
    public int HeaderId { get; set; }
    [JsonProperty("timestamp")]
    public string Timestamp { get; set; }
    [JsonProperty("version")]
    public string Version { get; set; }
    [JsonProperty("manufacturer")]
    public string Manufacturer { get; set; }
    [JsonProperty("serialNumber")]
    public string SerialNumber { get; set; }
    [JsonProperty("actionStates")]
    public ActionState[] ActionStates { get; set; }
}

public class Map
{
    [JsonProperty("mapId")]
    public string MapId { get; set; }
    [JsonProperty("mapVersion")]
    public string MapVersion { get; set; }
    [JsonProperty("mapDescription")]
    public string MapDescription { get; set; }
    [JsonProperty("mapStatus")]
    public string MapStatus { get; set; }
}

public class NodeState
{
    [JsonProperty("nodeId")]
    public string NodeId { get; set; }
    [JsonProperty("sequenceId")]
    public int SequenceId { get; set; }
    [JsonProperty("nodeDescription")]
    public string NodeDescription { get; set; }
    [JsonProperty("released")]
    public bool Released { get; set; }
    [JsonProperty("nodeStatus")]
    public NodePosition NodePosition { get; set; }
}

public class EdgeState
{
    [JsonProperty("edgeId")]
    public string EdgeId { get; set; }
    [JsonProperty("sequenceId")]
    public int SequenceId { get; set; }
    [JsonProperty("edgeDescription")]
    public string EdgeDescription { get; set; }
    [JsonProperty("released")]
    public bool Released { get; set; }
    [JsonProperty("trajectory")]
    public Trajectory Trajectory { get; set; }
}

public class AgvPosition
{
    [JsonProperty("x")]
    public float X { get; set; }
    [JsonProperty("y")]
    public float Y { get; set; }
    [JsonProperty("theta")]
    public float Theta { get; set; }
    [JsonProperty("mapId")]
    public string MapId { get; set; }
    [JsonProperty("mapDescription")]
    public string MapDescription { get; set; }
    [JsonProperty("positionInitialized")]
    public bool PositionInitialized { get; set; }
    [JsonProperty("positionStatus")]
    public float LocalizationScore { get; set; }
    [JsonProperty("deviationRange")]
    public float DeviationRange { get; set; }
}

public class Velocity
{
    [JsonProperty("vx")]
    public float Vx { get; set; }
    [JsonProperty("vy")]
    public float Vy { get; set; }
    [JsonProperty("omega")]
    public float Omega { get; set; }
}

public class Load
{
    [JsonProperty("loadId")]
    public string LoadId { get; set; }
    [JsonProperty("loadType")]
    public string LoadType { get; set; }
    [JsonProperty("loadPosition")]
    public string LoadPosition { get; set; }
    [JsonProperty("boundingBoxReference")]
    public BoundingBoxReference BoundingBoxReference { get; set; }
    [JsonProperty("loadDimensions")]
    public LoadDimensions LoadDimensions { get; set; }
    [JsonProperty("weight")]
    public float Weight { get; set; }
}

public class BoundingBoxReference
{
    [JsonProperty("x")]
    public float X { get; set; }
    [JsonProperty("y")]
    public float Y { get; set; }
    [JsonProperty("z")]
    public float Z { get; set; }
    [JsonProperty("theta")]
    public float Theta { get; set; }
}

public class LoadDimensions
{
    [JsonProperty("length")]
    public float Length { get; set; }
    [JsonProperty("width")]
    public float Width { get; set; }
    [JsonProperty("height")]
    public float Height { get; set; }
}

public class ActionState
{
    [JsonProperty("actionId")]
    public string ActionId { get; set; }
    [JsonProperty("actionType")]
    public string ActionType { get; set; }
    [JsonProperty("actionDescription")]
    public string ActionDescription { get; set; }
    [JsonProperty("actionStatus")]
    public string ActionStatus { get; set; }
    [JsonProperty("resultDescription")]
    public string ResultDescription { get; set; }
}

public class BatteryState
{
    [JsonProperty("batteryCharge")]
    public float BatteryCharge { get; set; }
    [JsonProperty("batteryVoltage")]
    public float BatteryVoltage { get; set; }
    [JsonProperty("batteryHealth")]
    public float BatteryHealth { get; set; }
    [JsonProperty("charging")]
    public bool Charging { get; set; }
    [JsonProperty("reach")]
    public float Reach { get; set; }
}

public class Error
{
    [JsonProperty("errorType")]
    public string ErrorType { get; set; }
    [JsonProperty("errorReferences")]
    public ErrorReference[] ErrorReferences { get; set; }
    [JsonProperty("errorDescription")]
    public string ErrorDescription { get; set; }
    [JsonProperty("errorHint")]
    public string ErrorHint { get; set; }
    [JsonProperty("errorLevel")]
    public string ErrorLevel { get; set; }
}

public class ErrorReference
{
    [JsonProperty("referenceKey")]
    public string ReferenceKey { get; set; }
    [JsonProperty("referenceValue")]
    public string ReferenceValue { get; set; }
}

public class Information
{
    [JsonProperty("infoType")]
    public string InfoType { get; set; }
    [JsonProperty("infoReferences")]
    public InfoReference[] InfoReferences { get; set; }
    [JsonProperty("infoDescription")]
    public string InfoDescription { get; set; }
    [JsonProperty("infoLevel")]
    public string InfoLevel { get; set; }
}

public class InfoReference
{
    [JsonProperty("referenceKey")]
    public string ReferenceKey { get; set; }
    [JsonProperty("referenceValue")]
    public string ReferenceValue { get; set; }
}

public class SafetyState
{
    [JsonProperty("eStop")]
    public string EStop { get; set; }
    [JsonProperty("fieldViolation")]
    public bool FieldViolation { get; set; }
}

public class Trajectory
{
    [JsonProperty("degree")]
    public int Degree { get; set; }
    [JsonProperty("knotVector")]
    public float[] KnotVector { get; set; }
    [JsonProperty("controlPoints")]
    public ControlPoint[] ControlPoints { get; set; }
}

public class ControlPoint
{
    [JsonProperty("x")]
    public float X { get; set; }
    [JsonProperty("y")]
    public float Y { get; set; }
    [JsonProperty("weight")]
    public float Weight { get; set; }
}