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

Copyright (c) 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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===========================================================================================*/

#pragma once

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

struct __attribute__((aligned(4))) OflState {
  public:
    // Sensor state vars
    int dx_raw = 0;  // raw sensor reading in [pixels] (x-axis of sensor frame)
    int dy_raw = 0;  // raw sensor reading in [pixels] (y-axis of sensor frame)

    // Ofl state vars
    float dx = 0;      // movement in N direction of vehicle NED frame in [radians] (dx_raw,dy_raw rotated by ofl_align, multiplied by ofl_cal_rad)
    float dy = 0;      // movement in E direction of vehicle NED frame in [radians] (dx_raw,dy_raw rotated by ofl_align, multiplied by ofl_cal_rad)
    float x = 0;       // position in N direction of vehicle NED frame in [radians]
    float y = 0;       // position in E direction of vehicle NED frame in [radians]
    uint32_t update_ts = 0; // update timestamp [us]
    uint32_t update_cnt = 0; // number of updates since start
};

struct OflConfig {
  public:
    Cfg::ofl_gizmo_enum ofl_gizmo = Cfg::ofl_gizmo_enum::mf_NONE;
    int ofl_spi_bus = -1; //SPI bus id
    int pin_ofl_cs = -1; //SPI cs pin
    int ofl_ser_bus = -1; //Serial bus id
    int ofl_baud = 0; //baud rate. 0=autobaud
    Cfg::ofl_align_enum ofl_align = Cfg::ofl_align_enum::mf_NE; //orientation of mounted sensor in relation to vehicle NED frame
    float ofl_cal_rad = 0; // manual calibration factor from pixels to radians, leave at 0 to use calibration from gizmo (updated by gizmo when 0)
};

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

class Ofl : public OflState {
  public:
    OflConfig config;
    OflGizmo *gizmo = nullptr;
    MsgTopic<OflState> topic = MsgTopic<OflState>("ofl");

    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("OFL");
};

//Global module instance
extern Ofl ofl;
