#pragma once
#include "../LinearAlgebra/Spherical.h"
#include "../LinearAlgebra/SwingTwist.h"
#include "../float16/float16.h"
#include "CoreThing.h"
#include "Participant.h"

namespace Passer::Control {

class IMessage {
public:
  virtual unsigned char Serialize(unsigned char *buffer);

  static bool SendMsg(Participant *client, IMessage msg);
};

class InvestigateMsg : public IMessage {
public:
  static const unsigned char id = 0x81;
  static const unsigned char length = 3;
  unsigned char networkId;
  unsigned char thingId;

  InvestigateMsg(unsigned char networkId, unsigned char thingId);

  virtual unsigned char Serialize(unsigned char *buffer) override;

  static bool Send(Participant *client, unsigned char networkId,
                   unsigned char thingId);
};

class ThingMsg : public IMessage {
public:
  static const unsigned char id = 0x80;
  static const unsigned char length = 5;
  unsigned char networkId;
  unsigned char thingId;
  unsigned char thingType;
  unsigned char parentId;

  ThingMsg(unsigned char networkId, unsigned char thingId,
           unsigned char thingType, unsigned char parentId);

  virtual unsigned char Serialize(unsigned char *buffer) override;

  static bool Send(Participant *client, unsigned char networkId,
                   unsigned char thingId, unsigned char thingType,
                   unsigned char parentId);
};

class NameMsg : public IMessage {
public:
  static const unsigned char id = 0x91;
  static const unsigned char length = 4;
  unsigned char networkId;
  unsigned char thingId;
  unsigned char nameLength;
  const char *name;

  NameMsg(unsigned char networkId, unsigned char thingId, const char *name,
          unsigned char nameLength);

  virtual unsigned char Serialize(unsigned char *buffer) override;

  static bool Send(Participant *client, CoreThing *thing,
                   unsigned char nameLength);
};

class ModelUrlMsg : public IMessage {
public:
  static const unsigned char id = 0x90;

  unsigned char networkId;
  unsigned char thingId;

  float scale;
  unsigned char urlLength;
  const char *url;

  ModelUrlMsg(unsigned char networkId, unsigned char thingId,
              unsigned char urlLegth, const char *url, float scale = 1);

  virtual unsigned char Serialize(unsigned char *buffer) override;
};

class PoseMsg : public IMessage {
public:
  static const unsigned char id = 0x10;
  unsigned char length = 4 + 4 + 4;

  unsigned char networkId;
  unsigned char thingId;

  unsigned char poseType;
  const unsigned char Pose_Position = 0x01;
  const unsigned char Pose_Orientation = 0x02;

  Spherical16 position;
  SwingTwist16 orientation;

  PoseMsg(unsigned char networkId, unsigned char thingId,
          unsigned char poseType, Spherical16 position,
          SwingTwist16 orientation);

  virtual unsigned char Serialize(unsigned char *buffer) override;
};

} // namespace Passer::Control
using namespace Passer::Control;