/// Protokollneutrales Wegpunkt-Modell (Architektur-Doku 3.2).
/// Divergenz zu MSP/MAVLink findet ausschliesslich im Encoder-Schritt statt
/// (MspWaypointEncoder / MavlinkMissionEncoder), nicht in diesem Modell.
library;

enum WaypointAction { none, loiter, landing, jump }

class Waypoint {
  const Waypoint({
    required this.lat,
    required this.lon,
    required this.altitudeM,
    required this.speedMs,
    required this.catchRadiusM,
    this.action = WaypointAction.none,
    this.jumpTargetIndex,
    this.jumpRepeatCount,
  });

  final double lat;
  final double lon;
  final double altitudeM;
  final double speedMs;
  final double catchRadiusM;
  final WaypointAction action;

  /// Nur bei action == jump gesetzt (iNAV Action-Code 6, Doku 7.1).
  final int? jumpTargetIndex;

  /// Nur bei action == jump gesetzt; null bedeutet Endlos-Wiederholung.
  final int? jumpRepeatCount;

  Waypoint copyWith({
    double? lat,
    double? lon,
    double? altitudeM,
    double? speedMs,
    double? catchRadiusM,
    WaypointAction? action,
    int? jumpTargetIndex,
    int? jumpRepeatCount,
  }) {
    return Waypoint(
      lat: lat ?? this.lat,
      lon: lon ?? this.lon,
      altitudeM: altitudeM ?? this.altitudeM,
      speedMs: speedMs ?? this.speedMs,
      catchRadiusM: catchRadiusM ?? this.catchRadiusM,
      action: action ?? this.action,
      jumpTargetIndex: jumpTargetIndex ?? this.jumpTargetIndex,
      jumpRepeatCount: jumpRepeatCount ?? this.jumpRepeatCount,
    );
  }
}

/// Gemeinsame, protokollunabhaengige Datenstruktur aller Missionstypen.
class FlatWaypointList {
  const FlatWaypointList(this.waypoints);

  final List<Waypoint> waypoints;
}