/*==========================================================================================
MIT License

Copyright (c) 2023-2025 https://madflight.com

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
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The above copyright notice and this permission notice shall be included in all
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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SOFTWARE.
===========================================================================================*/

#pragma once

#include "../cfg/cfg.h"
#include "../tbx/tbx.h" //RuntimeTrace, MsgBroker

struct __attribute__((aligned(4))) RdrState {
  public:
    // Sensor state vars
    float dist = -1; //distance in m, or negative error code (-1: no data, -2: invalid data)

    // Rdr state vars
    uint32_t update_ts = 0; //timestamp last successful update() call
    uint32_t update_cnt = 0; //number of updates since start
};

struct RdrConfig {
  public:
    Cfg::rdr_gizmo_enum gizmo = Cfg::rdr_gizmo_enum::mf_NONE;
    int rdr_ser_bus = -1; //Serial bus id
    int rdr_baud = 0; //baud rate. 0=autobaud
    int pin_rdr_trig = -1; //trigger pulse output pin
    int pin_rdr_echo = -1; //echo pulse input pin
    int rdr_i2c_bus = -1; //I2C bus id
    int rdr_i2c_adr = 0; //I2C address
};

class RdrGizmo {
  public:
    virtual ~RdrGizmo() {}
    virtual bool update() = 0; //returns true if new sample was taken
};

class Rdr : public RdrState {
  public:
    RdrConfig config;
    RdrGizmo *gizmo = nullptr;
    MsgTopic<RdrState> topic = MsgTopic<RdrState>("rdr");

    int setup();      // Use config to setup gizmo, returns 0 on success, or error code
    bool installed() {return (gizmo != nullptr); } // Returns true if a gizmo was setup

  protected:
    friend void sensor_task(void *pvParameters);
    bool update();    // Returns true if state was updated

  private:
    RuntimeTrace runtimeTrace = RuntimeTrace("RDR");
};

//Global module instance
extern Rdr rdr;
