#ifndef __ALASCA_DATA_H__
#define __ALASCA_DATA_H__

#include "Pacpus/kernel/cstdint.h"
#include "Pacpus/kernel/road_time.h"

////////////////////////////////////////////////////////////////////////////////
// some constants defined for the Alasca component
static const uint32_t MAX_SCAN_POINT = 8648;
static const uint32_t MAX_SCAN_POINT_PER_LAYER = 2162;
static const int32_t UTC_MAGIC_WORD = 0x55544300;

// Data recorded in the DBITE file
// Alasca XT laserscanner
typedef struct
{
    int8_t scannertype;
    uint32_t timeStart;	  // time start of the scan
    float startAngle;			      // the start angle of the measurement (in [rad*e4])
    float endAngle;			        // the stop angle of the measurement (in [rad*e4])
    uint32_t nbPoint;		  // number of points
    int32_t dataPos;               // the position of the data in the binary file associated to the dbt file
} AlascaXT;

// An Alasca point
// see Manual_Alasca.pdf page 27
// Orientation of the frame regarding the car:
// X ahead, Y on the left and Z upside
struct ScanPoint
{
    uint8_t scannerId;    // ID of the scanner that has detected the point - Alasca has type 2
    uint8_t layerNumber;  // channel (0 = bottom channel ...)
    uint8_t echoNumber;	  // subChannel (0 = A, 1 = B ...)
    uint8_t pointStatus;  // ground, rain, dirt ...
    int16_t x;                    // X coordinate in centimeters
    int16_t y;                    // Y coordinate in centimeters
    int16_t z;                    // Z coordinate in centimeters
    uint16_t width;       // the echo width
};

// Data obtained after decoding
// The complete structure is written in shared memory
// Only the point[MAX_SCAN_POINT] array is recorded in the binary file
// associated to the DBT file (see struct AlascaXT)
struct ScanAlascaData
{
    uint8_t scannertype;        // Alasca has type 2
    uint32_t timeStart;	        // time start of the scan
    float startAngle;			            // the start angle of the measurement (in [rad*e4])
    float endAngle;			              // the stop angle of the measurement (in [rad*e4])
    uint32_t nbPoint;		        // number of points
    road_time_t time;                 // DBT timestamp
    road_timerange_t timerange;       // DBT timerange
    ScanPoint point[MAX_SCAN_POINT];  // the data, see struct ScanPoint
};

struct SortedScanAlascaData
{
    double xYellow[MAX_SCAN_POINT_PER_LAYER];
    double yYellow[MAX_SCAN_POINT_PER_LAYER];
    double xGreen[MAX_SCAN_POINT_PER_LAYER];
    double yGreen[MAX_SCAN_POINT_PER_LAYER];
    double xBlue[MAX_SCAN_POINT_PER_LAYER];
    double yBlue[MAX_SCAN_POINT_PER_LAYER];
    double xRed[MAX_SCAN_POINT_PER_LAYER];
    double yRed[MAX_SCAN_POINT_PER_LAYER];

    int32_t totalSize;
    int32_t yellowSize;
    int32_t greenSize;
    int32_t blueSize;
    int32_t redSize;
};

#endif