namespace RoboidControl {

    /// <summary>
    /// A message containing binary data for custom communication
    /// </summary>
    public class BinaryMsg : IMessage {
        /// <summary>
        /// The message ID
        /// </summary>
        public const byte Id = 0xB1;
        /// <summary>
        /// The length of the message in bytes, excluding the binary data
        /// </summary>
        /// For the total size of the message this.bytes.Length should be added to this value.
        public const byte length = 4;
        /// <summary>
        /// The network ID identifying the thing
        /// </summary>
        public byte networkId;
        /// <summary>
        /// The ID of the thing
        /// </summary>
        public byte thingId;

        public Thing thing;
        /// <summary>
        /// The length of the data
        /// </summary>
        public byte dataLength;
        /// <summary>
        /// The binary data
        /// </summary>
        public byte[] data;

        /// <summary>
        /// Create an empty message for sending
        /// </summary>
        /// <param name="networkId">The netowork ID of the thing</param>
        /// <param name="thingId">The ID of the thing</param>
        public BinaryMsg(byte networkId, Thing thing) : base() {
            this.networkId = networkId;
            this.thingId = thing.id;
            this.thing = thing;
            this.data = this.thing.GenerateBinary();
            this.dataLength = (byte)this.data.Length;
        }
        /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
        public BinaryMsg(byte[] buffer) {
            byte ix = 1;
            this.networkId = buffer[ix++];
            this.thingId = buffer[ix++];
            this.dataLength = buffer[ix++];
            this.data = new byte[this.dataLength];
            for (uint dataIx = 0; dataIx < this.dataLength; dataIx++)
                this.data[dataIx] = buffer[ix++];
        }

        /// @copydoc Passer::RoboidControl::IMessage::Serialize
        public override byte Serialize(ref byte[] buffer) {
            if (buffer.Length < BinaryMsg.length + this.data.Length || this.data.Length == 0)
                return 0;

#if DEBUG
            System.Console.WriteLine($"Send BinaryMsg [{this.networkId}/{this.thingId}] {this.dataLength}");
#endif
            byte ix = 0;
            buffer[ix++] = BinaryMsg.Id;
            buffer[ix++] = this.networkId;
            buffer[ix++] = this.thingId;
            buffer[ix++] = this.dataLength;
            foreach (byte b in data)
                buffer[ix++] = b;

            return ix;
        }
    }

}