using System.IO;
using System.Threading.Tasks;
using Passer.LinearAlgebra;

namespace Passer.Control.Core {

    public class PoseMsg : IMessage {
        public const byte Id = 0x10;
        public const byte length = 4 + 4 + 4;
        public byte networkId;
        public byte thingId;

        public byte poseType;
        public const byte Pose_Position = 0x01;
        public const byte Pose_Orientation = 0x02;
        public const byte Pose_LinearVelocity = 0x04;
        public const byte Pose_AngularVelocity = 0x08;

        public Spherical position = Spherical.zero;
        public SwingTwist orientation = SwingTwist.zero;
        public Spherical linearVelocity = Spherical.zero;
        public Spherical angularVelocity = Spherical.zero;

        public PoseMsg(byte networkId, byte thingId, Spherical position, SwingTwist orientation) {
            this.networkId = networkId;
            this.thingId = thingId;

            this.position = position;
            this.orientation = orientation;

            this.poseType = 0;
            if (this.position != null)
                this.poseType |= Pose_Position;
            if (this.orientation != null)
                this.poseType |= Pose_Orientation;
        }
        public PoseMsg(byte[] buffer) : base(buffer) { }

        public override byte Serialize(ref byte[] buffer) {
            byte ix = 0;
            buffer[ix++] = PoseMsg.Id;
            buffer[ix++] = this.networkId;
            buffer[ix++] = this.thingId;
            buffer[ix++] = this.poseType;

            if ((poseType & Pose_Position) != 0)
                LowLevelMessages.SendSpherical(buffer, ref ix, this.position);
            if ((poseType & Pose_Orientation) != 0)
                LowLevelMessages.SendQuat32(buffer, ref ix, this.orientation);
            if ((poseType & Pose_LinearVelocity) != 0)
                LowLevelMessages.SendSpherical(buffer, ref ix, this.linearVelocity);
            if ((poseType & Pose_AngularVelocity) != 0)
                LowLevelMessages.SendSpherical(buffer, ref ix, this.angularVelocity);
            return ix;
        }
        public override void Deserialize(byte[] buffer) {
            byte ix = 0;
            this.networkId = buffer[ix++];
            this.thingId = buffer[ix++];
            this.poseType = buffer[ix++];

            if ((poseType & Pose_Position) != 0)
                this.position = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
            if ((poseType & Pose_Orientation) != 0)
                this.orientation = LowLevelMessages.ReceiveSwingTwist(buffer, ref ix);
            if ((poseType & Pose_LinearVelocity) != 0)
                this.linearVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
            if ((poseType & Pose_AngularVelocity) != 0)
                this.angularVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
        }

        public static bool Send(Participant client, byte thingId, Spherical position, SwingTwist orientation) {
            PoseMsg msg = new(client.networkId, thingId, position, orientation);
            return SendMsg(client, msg);
        }
        public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
            byte[] buffer = await Receive(dataStream, packetSize);
            PoseMsg msg = new(buffer);

            // Do no process poses with nwid == 0 (== local)
            if (msg.networkId == 0)
                return true;

            client.messageQueue.Enqueue(msg);
            return true;
        }

        public static bool SendTo(Participant participant, Thing thing) {
            if (participant == null || thing == null)
                return false;

            byte ix = 0;
            participant.buffer[ix++] = PoseMsg.Id;
            participant.buffer[ix++] = participant.networkId;
            participant.buffer[ix++] = thing.id;
            participant.buffer[ix++] = thing.poseUpdated;

            if ((thing.poseUpdated & Pose_Position) != 0 && thing.position != null)
                LowLevelMessages.SendSpherical(participant.buffer, ref ix, thing.position);
            if ((thing.poseUpdated & Pose_Orientation) != 0 && thing.orientation != null)
                LowLevelMessages.SendQuat32(participant.buffer, ref ix, thing.orientation);
            if ((thing.poseUpdated & Pose_LinearVelocity) != 0 && thing.linearVelocity != null)
                LowLevelMessages.SendSpherical(participant.buffer, ref ix, thing.linearVelocity);
            if ((thing.poseUpdated & Pose_AngularVelocity) != 0 && thing.angularVelocity != null)
                LowLevelMessages.SendSpherical(participant.buffer, ref ix, thing.angularVelocity);

            return participant.SendBuffer(ix);
        }
    }

}