import ctypes
from ..datatypes.navigation import Semicircle, Velocity, Acceleration

# Minimal placeholders
class RelativeTimetag(ctypes.Union):
    _pack_ = 1
    _fields_ = [("raw", ctypes.c_uint16)]

class AttitudeRate(ctypes.Union):
    _pack_ = 1
    _fields_ = [("raw", ctypes.c_int16)]

class AngAcc(ctypes.Union):
    _pack_ = 1
    _fields_ = [("raw", ctypes.c_int16)]

class MsgInuHighSpeedPayload(ctypes.Structure):
    _pack_ = 1
    _fields_ = [
        ("mode_word", ctypes.c_uint16),                 # 2 bytes
        ("timetag", RelativeTimetag),                   # 2 bytes
        ("x_vel", ctypes.c_uint32),                     # 4 bytes (OLD uses 4, not 2!)
        ("y_vel", ctypes.c_uint32),                     # 4 bytes
        ("z_vel", ctypes.c_uint32),                     # 4 bytes
        ("platform_azimuth", Semicircle),
        ("roll", Semicircle),
        ("pitch", Semicircle),
        ("roll_rate", AttitudeRate),
        ("pitch_rate", AttitudeRate),
        ("yaw_rate", AttitudeRate),
        ("longitudinal_acc", Acceleration),
        ("lateral_acc", Acceleration),
        ("normal_acc", Acceleration),
        ("ptaz_tt", RelativeTimetag),
        ("roll_tt", RelativeTimetag),
        ("pitch_tt", RelativeTimetag),                  # 2 bytes
        ("roll_ang_acc", ctypes.c_uint64),              # 8 bytes (OLD uses 8, not 2!)
        ("pitch_ang_acc", ctypes.c_uint64),             # 8 bytes
        ("yaw_ang_acc", ctypes.c_uint64)                # 8 bytes,
    ]

    # Rimosso __init__ perché ctypes.Structure gestisce automaticamente
    # l'inizializzazione. x_vel, y_vel, z_vel ora sono c_uint32, 
    # e ang_acc sono c_uint64.