using System.Collections.Generic;
using ClumsyCore;
using Newtonsoft.Json;

namespace MultiWheelC;

public class VehicleSyncInfo
{
    [JsonProperty("Master")] public bool Master { get; set; }
    [JsonProperty("Ip")] public string Ip { get; set; } = "";
    [JsonProperty("Port")] public int Port { get; set; } = 8008;
    [JsonProperty("PosAvailable")] public bool PosAvailable { get; set; }
    [JsonProperty("X")] public float X { get; set; }
    [JsonProperty("Y")] public float Y { get; set; }
    [JsonProperty("Th")] public float Th { get; set; }
    [JsonProperty("LayoutX")] public float LayoutX { get; set; }
    [JsonProperty("LayoutY")] public float LayoutY { get; set; }
    [JsonProperty("LayoutTh")] public float LayoutTh { get; set; }
    [JsonProperty("Aligned")] public bool Aligned { get; set; }
    // 本车本轮是否成功识别到邻车（关闭互识别时恒为 true）。任一车为 false 则整队停车。
    [JsonProperty("DetectOk")] public bool DetectOk { get; set; }
}

public class VehicleSyncNotification
{
    [JsonProperty("PosAvailable")] public bool PosAvailable { get; set; }
    [JsonProperty("CenterX")] public float CenterX { get; set; }
    [JsonProperty("CenterY")] public float CenterY { get; set; }
    [JsonProperty("CenterTh")] public float CenterTh { get; set; }
    [JsonProperty("Aligned")] public bool Aligned { get; set; }
    [JsonProperty("Fleet")] public Dictionary<int, VehicleSyncInfo> Fleet { get; set; } = new();
    [JsonProperty("FleetVx")] public float FleetVx { get; set; }
    [JsonProperty("FleetFrontTh")] public float FleetFrontTh { get; set; }
    [JsonProperty("FleetRearTh")] public float FleetRearTh { get; set; }
    [JsonProperty("AutoEnabled")] public bool AutoEnabled { get; set; }
    [JsonProperty("ManualEnabled")] public bool ManualEnabled { get; set; }
    [JsonProperty("SyncTh")] public float SyncTh { get; set; }
    [JsonProperty("SyncDistance")] public float SyncDistance { get; set; }
    [JsonProperty("DeltaDetectCenter")] public float DeltaDetectCenter { get; set; }
}