package pjisuv_msgs

import (
	"github.com/bluenviron/goroslib/v2/pkg/msg"
	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
	"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
)

type AccelCmd struct {
	msg.Package `ros:"autoware_msgs"`
	Header      std_msgs.Header `rosname:"header"`
	Accel       int32           `rosname:"accel"`
}

type AdjustXY struct {
	msg.Package `ros:"autoware_msgs"`
	Header      std_msgs.Header `rosname:"header"`
	X           int32           `rosname:"x"`
	Y           int32           `rosname:"y"`
}

type BrakeCmd struct {
	msg.Package `ros:"autoware_msgs"`
	Header      std_msgs.Header `rosname:"header"`
	Brake       int32           `rosname:"brake"`
}

type Centroids struct {
	msg.Package `ros:"autoware_msgs"`
	Header      std_msgs.Header       `rosname:"header"`
	Points      []geometry_msgs.Point `rosname:"points"`
}

type CloudCluster struct {
	msg.Package    `ros:"autoware_msgs"`
	Id             uint32                       `rosname:"id"`
	Label          string                       `rosname:"label"`
	Score          float64                      `rosname:"score"`
	Cloud          sensor_msgs.PointCloud2      `rosname:"cloud"`
	MinPoint       geometry_msgs.PointStamped   `rosname:"min_point"`
	MaxPoint       geometry_msgs.PointStamped   `rosname:"max_point"`
	AvgPoint       geometry_msgs.PointStamped   `rosname:"avg_point"`
	CentroidPoint  geometry_msgs.PointStamped   `rosname:"centroid_point"`
	EstimatedAngle float64                      `rosname:"estimated_angle"`
	Dimensions     geometry_msgs.Vector3        `rosname:"dimensions"`
	EigenValues    geometry_msgs.Vector3        `rosname:"eigen_values"`
	EigenVectors   []geometry_msgs.Vector3      `rosname:"eigen_vectors"`
	FpfhDescriptor std_msgs.Float32MultiArray   `rosname:"fpfh_descriptor"`
	BoundingBox    BoundingBox                  `rosname:"bounding_box"`
	ConvexHull     geometry_msgs.PolygonStamped `rosname:"convex_hull"`
	IndicatorState uint32                       `rosname:"indicator_state"`
}

type CloudClusterArray struct {
	msg.Package `ros:"autoware_msgs"`
	Header      std_msgs.Header `rosname:"header"`
	Clusters    []CloudCluster  `rosname:"clusters"`
}
type ValueSet struct {
	msg.Package `ros:"autoware_msgs"`
	Center      int32 `rosname:"center"`
	Range       int32 `rosname:"range"`
}
type ColorSet struct {
	msg.Package `ros:"autoware_msgs"`
	Hue         int32 `rosname:"Hue"`
	Sat         int32 `rosname:"Sat"`
	Val         int32 `rosname:"Val"`
}
type ControlCommand struct {
	msg.Package        `ros:"autoware_msgs"`
	LinearVelocity     int32 `rosname:"linear_velocity"`
	LinearAcceleration int32 `rosname:"linear_acceleration"`
	SteeringAngle      int32 `rosname:"steering_angle"`
}
type ControlCommandStamped struct {
	msg.Package `ros:"autoware_msgs"`
	Cmd         ControlCommand `rosname:"cmd"`
}
type DTLane struct {
	msg.Package `ros:"autoware_msgs"`
	Dist        float64 `rosname:"dist"`
	Dir         float64 `rosname:"dir"`
	Apara       float64 `rosname:"apara"`
	R           float64 `rosname:"r"`
	Slope       float64 `rosname:"slope"`
	Cant        float64 `rosname:"cant"`
	Lw          float64 `rosname:"lw"`
	Rw          float64 `rosname:"rw"`
}

type WaypointState struct {
	msg.Package           `ros:"autoware_msgs"`
	Aid                   int32 `rosname:"aid"`
	NULLSTATE             uint8 `rosname:"NULLSTATE"`
	LanechangeState       uint8 `rosname:"lanechange_state"`
	SteeringState         uint8 `rosname:"steering_state"`
	STRLEFT               uint8 `rosname:"STR_LEFT"`
	STRRIGHT              uint8 `rosname:"STR_RIGHT"`
	STRSTRAIGHT           uint8 `rosname:"STR_STRAIGHT"`
	STRBACK               uint8 `rosname:"STR_BACK"`
	AccelState            uint8 `rosname:"accel_state"`
	StopState             uint8 `rosname:"stop_state"`
	TYPESTOPLINE          uint8 `rosname:"TYPE_STOPLINE"`
	TYPESTOP              uint8 `rosname:"TYPE_STOP"`
	EventState            uint8 `rosname:"event_state"`
	TYPEEVENTNULL         uint8 `rosname:"TYPE_EVENT_NULL"`
	TYPEEVENTGOAL         uint8 `rosname:"TYPE_EVENT_GOAL"`
	TYPEEVENTMIDDLEGOAL   uint8 `rosname:"TYPE_EVENT_MIDDLE_GOAL"`
	TYPEEVENTPOSITIONSTOP uint8 `rosname:"TYPE_EVENT_POSITION_STOP"`
	TYPEEVENTBUSSTOP      uint8 `rosname:"TYPE_EVENT_BUS_STOP"`
	TYPEEVENTPARKING      uint8 `rosname:"TYPE_EVENT_PARKING"`
}

type Waypoint struct {
	msg.Package `ros:"autoware_msgs"`
	Gid         int32                      `rosname:"gid"`
	Lid         int32                      `rosname:"lid"`
	Pose        geometry_msgs.PoseStamped  `rosname:"pose"`
	Twist       geometry_msgs.TwistStamped `rosname:"twist"`
	Dtlane      DTLane                     `rosname:"dtlane"`
	ChangeFlag  int32                      `rosname:"change_flag"`
	Wpstate     WaypointState              `rosname:"wpstate"`
	LaneId      uint32                     `rosname:"lane_id"`
	LeftLaneId  uint32                     `rosname:"left_lane_id"`
	RightLaneId uint32                     `rosname:"right_lane_id"`
	StopLineId  uint32                     `rosname:"stop_line_id"`
	Cost        float32                    `rosname:"cost"`
	TimeCost    float32                    `rosname:"time_cost"`
	Direction   uint32                     `rosname:"direction"`
}

type Lane struct {
	msg.Package           `ros:"autoware_msgs"`
	Header                std_msgs.Header `rosname:"header"`
	Increment             int32           `rosname:"increment"`
	LaneId                int32           `rosname:"lane_id"`
	Waypoints             []Waypoint      `rosname:"waypoints"`
	LaneIndex             uint32          `rosname:"lane_index"`
	Cost                  float32         `rosname:"cost"`
	ClosestObjectDistance float32         `rosname:"closest_object_distance"`
	ClosestObjectVelocity float32         `rosname:"closest_object_velocity"`
	IsBlocked             bool            `rosname:"is_blocked"`
}

type LaneArray struct {
	msg.Package `ros:"autoware_msgs"`
	Id          int32  `rosname:"id"`
	Lanes       []Lane `rosname:"lanes"`
}
type DetectedObject struct {
	msg.Package           `ros:"autoware_msgs"`
	Id                    uint32                       `rosname:"id"`
	Label                 string                       `rosname:"label"`
	Score                 float32                      `rosname:"score"`
	Color                 std_msgs.ColorRGBA           `rosname:"color"`
	Valid                 bool                         `rosname:"valid"`
	String                string                       `rosname:"space_frame"`
	Pose                  geometry_msgs.Pose           `rosname:"pose"`
	Dimensions            geometry_msgs.Vector3        `rosname:"dimensions"`
	Variance              geometry_msgs.Vector3        `rosname:"variance"`
	Velocity              geometry_msgs.Twist          `rosname:"velocity"`
	Acceleration          geometry_msgs.Twist          `rosname:"acceleration"`
	Pointcloud            sensor_msgs.PointCloud2      `rosname:"pointcloud"`
	ConvexHull            geometry_msgs.PolygonStamped `rosname:"convex_hull"`
	CandidateTrajectories LaneArray                    `rosname:"candidate_trajectories"`
	PoseReliable          bool                         `rosname:"pose_reliable"`
	VelocityReliable      bool                         `rosname:"velocity_reliable"`
	AccelerationReliable  bool                         `rosname:"acceleration_reliable"`
	ImageFrame            string                       `rosname:"image_frame"`
	X                     int32                        `rosname:"x"`
	Y                     int32                        `rosname:"y"`
	Width                 int32                        `rosname:"width"`
	Height                int32                        `rosname:"height"`
	Angle                 float32                      `rosname:"angle"`
	RoiImage              sensor_msgs.Image            `rosname:"roi_image"`
	IndicatorState        uint8                        `rosname:"indicator_state"`
	BehaviorState         uint8                        `rosname:"behavior_state"`
	UserDefinedInfo       []string                     `rosname:"user_defined_info"`
}
type DetectedObjectArray struct {
	msg.Package `ros:"autoware_msgs"`
	Header      std_msgs.Header  `rosname:"header"`
	Objects     []DetectedObject `rosname:"objects"`
}