#pragma once

#include "NetworkPerception.h"
#include "Perception.h"
#include "Roboid.h"
#include "Types.h"

namespace Passer {
namespace RoboidControl {

/// @brief Interface for synchronizaing state between clients across a network
class NetworkSync {
public:
  /// @brief Retreive and send the roboid state
  /// @param roboid The roboid for which the state is updated
  virtual void NetworkUpdate(Roboid *roboid) = 0;
  /// @brief Inform that the given object is no longer being tracked
  /// @param obj
  virtual void DestroyObject(InterestingThing *obj) = 0;

  /// @brief The id of a Pose message
  static const char PoseMsg = 0x10;
  /// @brief A bit pattern for the pose, stating that this message contains a
  /// position in world coordinates
  static const char Pose_Position = 0x01;
  /// @brief A bit pattern for the pose, stating that this message contains an
  /// orientation in world coordinates
  static const char Pose_Orientation = 0x02;
  /// @brief A bit pattern for the pose, stating that this messsage contains a
  /// linear velocity in world coordinates
  static const char Pose_LinearVelocity = 0x04;
  /// @brief A bit pattern for the pose, stating that this message contains an
  /// angular velocity in world coordinates
  static const char Pose_AngularVelocity = 0x08;

  static const char DestroyMsg = 0x20;

  typedef void (*SendBuffer)(UInt8 *buffer, UInt16 bufferSize);

  void SendPoseMsg(SendBuffer sendBuffer, Roboid *roboid);
  void SendDestroyObject(SendBuffer sendBuffer, InterestingThing *obj);

  void PublishTrackedObjects(SendBuffer sendBuffer, InterestingThing **objects);

protected:
  NetworkPerception *networkPerception;
  void PublishTrackedObject(SendBuffer sendBuffer, InterestingThing *object);

  void SendVector3(unsigned char *data, int startIndex, Vector3 v);
  void SendSingle100(unsigned char *data, int startIndex, float value);
  void SendInt32(unsigned char *data, int startIndex, Int32 value);
};

} // namespace RoboidControl
} // namespace Passer