//! `UavTelemetry` — projection of decoded MAVLink telemetry into a
//! typed snapshot that downstream consumers (`scan_controller`,
//! `movement_detector`, `telemetry_stream`, BIT) consume.
//!
//! Authoritative projection rules:
//!
//! - `position` from `GLOBAL_POSITION_INT` (id 33). Latitude/longitude
//!   are kept in their MAVLink-native E7 form so consumers that
//!   compare against waypoints (also E7) don't re-introduce float
//!   round-trip drift. Altitude is in metres (MSL + AGL relative).
//!   Velocities are in m/s, heading in degrees [0, 360).
//! - `attitude` from `ATTITUDE` (id 30). Angles in radians per the
//!   MAVLink convention.
//! - `mode` from `HEARTBEAT` (id 0). The `(base_mode, custom_mode)`
//!   pair is the canonical (vehicle-type-specific) discriminator;
//!   `system_status` is the MAV_STATE enum (`MAV_STATE_ACTIVE` etc.).
//! - `sys_status` from `SYS_STATUS` (id 1). Battery + comms + sensor
//!   health bitfield — the bits consumers actually read are
//!   documented in `architecture.md §5.6`.
//! - `monotonic_ts_ns` is the host monotonic timestamp captured the
//!   moment the originating MAVLink message was decoded. Strictly
//!   non-decreasing across snapshots. Boot-time-relative fields
//!   (`ts_boot_ms`) are kept on each sub-struct so consumers that
//!   already correlate against MAVLink time-bases (e.g. EKF logs)
//!   don't lose them.

use serde::{Deserialize, Serialize};

#[derive(Debug, Clone, Copy, PartialEq, Serialize, Deserialize)]
pub struct UavPosition {
    pub lat_e7: i32,
    pub lon_e7: i32,
    pub alt_m: f32,
    pub relative_alt_m: f32,
    pub vx_mps: f32,
    pub vy_mps: f32,
    pub vz_mps: f32,
    pub heading_deg: f32,
    pub ts_boot_ms: u32,
}

#[derive(Debug, Clone, Copy, PartialEq, Serialize, Deserialize)]
pub struct UavAttitude {
    pub roll: f32,
    pub pitch: f32,
    pub yaw: f32,
    pub rollspeed: f32,
    pub pitchspeed: f32,
    pub yawspeed: f32,
    pub ts_boot_ms: u32,
}

#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
pub struct UavMode {
    pub base_mode: u8,
    pub custom_mode: u32,
    pub system_status: u8,
}

#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
pub struct UavSysStatus {
    pub voltage_battery_mv: u16,
    pub current_battery_ca: i16,
    pub battery_remaining: i8,
    pub onboard_sensors_health: u32,
    pub errors_comm: u16,
}

#[derive(Debug, Clone, Copy, PartialEq, Serialize, Deserialize)]
pub struct UavTelemetry {
    pub position: Option<UavPosition>,
    pub attitude: Option<UavAttitude>,
    pub mode: Option<UavMode>,
    pub sys_status: Option<UavSysStatus>,
    pub monotonic_ts_ns: u64,
}

impl UavTelemetry {
    /// Empty snapshot used as the initial value before any telemetry
    /// has arrived.
    pub fn empty() -> Self {
        Self {
            position: None,
            attitude: None,
            mode: None,
            sys_status: None,
            monotonic_ts_ns: 0,
        }
    }
}

impl Default for UavTelemetry {
    fn default() -> Self {
        Self::empty()
    }
}