#pragma once

#include "Roboid.h"

namespace Passer {
namespace RoboidControl {

class Messages {
public:
  static Angle8 ReceiveAngle8(unsigned char *buffer, unsigned char *startIndex);
  static float ReceiveFloat16(unsigned char *buffer, unsigned char *startIndex);
  static Spherical16 ReceiveSpherical16(unsigned char *buffer,
                                        unsigned char *startIndex);

  static void SendSingle100(unsigned char *buffer, unsigned int startIndex,
                            float value);
  static void SendFloat16(unsigned char *buffer, unsigned char *startIndex,
                          float value);

  // void SendInt32(unsigned char *buffer, unsigned int startIndex, Int32
  // value);
  static void SendAngle8(unsigned char *buffer, unsigned int startIndex,
                         const float value);
  // void SendAngle16(unsigned char *buffer, unsigned int startIndex,
  //                  const float value);
  // void SendAngle32(unsigned char *buffer, unsigned int startIndex,
  //                  const float value);
  static void SendVector3(unsigned char *buffer, unsigned char *startIndex,
                          const Vector3 v);
  static void SendQuaternion(unsigned char *buffer, const int startIndex,
                             const Quaternion q);

  static void SendPolar(unsigned char *buffer, unsigned char *startIndex,
                        Polar p);
  // static void SendSpherical16(unsigned char *buffer, unsigned char
  // *startIndex,
  //                             Spherical16 s);
  static void SendSwingTwist(unsigned char *buffer, unsigned char *startIndex,
                             const SwingTwist16 r);
  static void SendQuat32(unsigned char *buffer, unsigned char *startIndex,
                         const Quaternion q);
};

} // namespace RoboidControl
} // namespace Passer
using namespace Passer::RoboidControl;