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/// Device info response
pub const RPLIDAR_ANS_TYPE_DEVINFO : u8 = 0x4;

/// Rplidar device info data strcture
#[derive(Debug, Copy, Clone, PartialEq)]
#[repr(packed)]
#[repr(C)]
pub struct RplidarResponseDeviceInfo {
    pub model: u8,
    pub firmware_version: u16,
    pub hardware_version: u8,
    pub serialnum: [u8;16]
}


/// Device health
pub const RPLIDAR_ANS_TYPE_DEVHEALTH : u8 = 0x6;

/// Rplidar device health info data structure
#[derive(Debug, Copy, Clone, PartialEq)]
#[repr(packed)]
#[repr(C)]
pub struct RplidarResponseDeviceHealth {
    pub status: u8,
    pub error_code: u16
}

// health status

/// The LIDAR is very healthy
pub const RPLIDAR_HEALTH_STATUS_OK : u8 = 0;

/// Some warning occurs with the device, but still work
pub const RPLIDAR_HEALTH_STATUS_WARNING : u8 = 1;

/// Some fatal error occurs, the device is not working anymore
pub const RPLIDAR_HEALTH_STATUS_ERROR : u8 = 2;


// Measurement ansers

/// Legacy measurement answer (1pt per response)
pub const RPLIDAR_ANS_TYPE_MEASUREMENT : u8 = 0x81;

/// Rplidar measurement nodes
/// Max distance: 16.384 meters
#[derive(Debug, Copy, Clone, PartialEq)]
#[repr(packed)]
#[repr(C)]
pub struct RplidarResponseMeasurementNode {
    pub sync_quality: u8,
    pub angle_q6_checkbit: u16,
    pub distance_q2: u16,
}

pub const RPLIDAR_RESP_MEASUREMENT_SYNCBIT : u8 = 1;
pub const RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT : usize = 2;
pub const RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT : usize = 1;
// pub const RPLIDAR_RESP_MEASUREMENT_CHECKBIT : u8 = 1;

/// Capsuled measurement answer (32pts per response)
/// Added in FW ver 1.17
pub const RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED : u8 = 0x82;

/// The cabin data structure in the capsuled measurement ndoes
#[derive(Debug, Copy, Clone, PartialEq)]
#[repr(packed)]
#[repr(C)]
pub struct RplidarResponseCabinNodes {
    pub distance_angle_1: u16,
    pub distance_angle_2: u16,
    pub offset_angles_q3: u8
}

/// The data structure for each response packet of capsuled measurements
#[derive(Debug, Copy, Clone, PartialEq)]
#[repr(packed)]
#[repr(C)]
pub struct RplidarResponseCapsuleMeasurementNodes {
    pub s_checksum_1: u8,
    pub s_checksum_2: u8,
    pub start_angle_sync_q6: u16,
    pub cabins: [RplidarResponseCabinNodes;16],
}

pub const RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1 : u8 = 0xA;
pub const RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2 : u8 = 0x5;

pub const RPLIDAR_ANS_TYPE_MEASUREMENT_HQ : u8 = 0x83;

/// High Quailty Measurement Node
#[derive(Debug, Copy, Clone, PartialEq)]
#[repr(packed)]
#[repr(C)]
pub struct RplidarResponseMeasurementNodeHq {
    pub angle_z_q14: u16,
    pub dist_mm_q2: u32,
    pub quality: u8,
    pub flag: u8,
}

/// HQ Capsuled Measurement Nodes
#[derive(Debug, Copy, Clone, PartialEq)]
#[repr(packed)]
#[repr(C)]
pub struct RplidarResponseHqCapsuledMeasurementNodes {
    pub sync_byte: u8,
    pub timestamp: u64,
    pub nodes: [RplidarResponseMeasurementNodeHq;16],
    pub crc32: u32
}

pub const RPLIDAR_RESP_HQ_FLAG_SYNCBIT : u8 = 1;
pub const RPLIDAR_RESP_MEASUREMENT_HQ_SYNC : u8 = 0xA5;

// Added in FW ver 1.17
// pub const RPLIDAR_ANS_TYPE_SAMPLE_RATE : u8 = 0x15;

/// Ultra Capsuled measurement answer (96pts per response)
/// added in FW ver 1.23alpha
pub const RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA : u8 = 0x84;

/// The data structure for each response packet of ultra capsuled measurements
#[derive(Debug, Copy, Clone, PartialEq)]
#[repr(packed)]
#[repr(C)]
pub struct RplidarResponseUltraCapsuleMeasurementNodes {
    pub s_checksum_1: u8,
    pub s_checksum_2: u8,
    pub start_angle_sync_q6: u16,
    pub ultra_cabins: [u32;32],
}

/// Answer type for getting LIDAR configuration
/// added in FW ver 1.24
pub const RPLIDAR_ANS_TYPE_GET_LIDAR_CONF : u8 = 0x20;

// pub const RPLIDAR_ANS_TYPE_SET_LIDAR_CONF : u8 = 0x21;


/// Get capability of accessory board
pub const RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG : u8 = 0xFF;

/// Flag indicate that accessory board support motor control
pub const RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK : u32 = (0x1);