File evamSlidingWindowDecor.h

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#pragma once

#ifndef EVAM_SLIDING_WINDOW_DECOR_H_
#define EVAM_SLIDING_WINDOW_DECOR_H_

#include "evamRingBuffer.h"

namespace evam
{
    struct SlidingWindowConfig {
        unsigned short windowSize;

        SlidingWindowConfig(unsigned short windowSize) : windowSize(windowSize) {}
    };

    template <class TMotor, unsigned short N>
    class SlidingWindowDecor : public TMotor
    {
        static_assert(N >= 1 && N <= 32, "N out of range 1..32");

    private:
        SlidingWindowConfig mConfig;
        RingBuffer<signed short, N> mRing;
        signed long mSum = 0;

    public:
        SlidingWindowDecor() : mConfig(N) {}

        template<typename... Args>
        SlidingWindowDecor(SlidingWindowConfig config, Args... args) 
            : mConfig(config), TMotor(args...) {}

        void Go(signed short value)
        {
            if (mRing.isFull())
                mSum -= mRing.get(0);

            mRing.put(value);
            mSum += value;

            if (mRing.isFull())
                value = static_cast<signed short>(mSum / N);

            TMotor::Go(value);
        }
    };
}

#endif