#pragma once

#include "buzzer.hpp"
#include "http.hpp"
#include "auto.hpp"
#include "types.hpp"


//FIXME controlledMotor class not available for this pcb, rework
  //--------------------------------------------
  //---- struct, enum, variable declarations ---
  //--------------------------------------------
  //enum that decides how the motors get controlled
  enum class controlMode_t {IDLE, JOYSTICK, MASSAGE, HTTP, MQTT, BLUETOOTH, AUTO};
  //string array representing the mode enum (for printing the state as string)
  extern const char* controlModeStr[7];
  
  //--- control_config_t ---
  //struct with config parameters
  typedef struct control_config_t {
      controlMode_t defaultMode;  //default mode after startup and toggling IDLE
      //timeout options
      uint32_t timeoutMs;         //time of inactivity after which the mode gets switched to IDLE
      float timeoutTolerancePer;  //percentage the duty can vary between timeout checks considered still inactive
  } control_config_t;
  
  
  
  
//  //==================================
//  //========= control class ==========
//  //==================================
//  //controls the mode the armchair operates
//  //repeatedly generates the motor commands corresponding to current mode and sends those to motorcontrol
//  class controlledArmchair {
//      public:
//          //--- constructor ---
//          controlledArmchair (
//                  control_config_t config_f,
//                  buzzer_t* buzzer_f,
//                  controlledMotor* motorLeft_f,
//                  controlledMotor* motorRight_f,
//                  evaluatedJoystick* joystick_f,
//                  httpJoystick* httpJoystick_f
//                  );
//  
//          //--- functions ---
//          //task that repeatedly generates motor commands depending on the current mode
//          void startHandleLoop();
//  
//          //function that changes to a specified control mode
//          void changeMode(controlMode_t modeNew);
//  
//          //function that toggle between IDLE and previous active mode (or default if not switched to certain mode yet)
//          void toggleIdle();
//  
//          //function that toggles between two modes, but prefers first argument if entirely different mode is currently active
//          void toggleModes(controlMode_t modePrimary, controlMode_t modeSecondary);
//  
//          //toggle between certain mode and previous mode
//          void toggleMode(controlMode_t modePrimary);
//  
//          //function that restarts timer which initiates the automatic timeout (switch to IDLE) after certain time of inactivity
//          void resetTimeout();
//  
//          //function for sending a button event (e.g. from button task at event) to control task
//          //TODO: use queue instead?
//          void sendButtonEvent(uint8_t count);
//  
//      private:
//  
//          //--- functions ---
//          //function that evaluates whether there is no activity/change on the motor duty for a certain time, if so a switch to IDLE is issued. - has to be run repeatedly in a slow interval
//          void handleTimeout();
//  
//          //--- objects ---
//          buzzer_t* buzzer;
//          controlledMotor* motorLeft;
//          controlledMotor* motorRight;
//          httpJoystick* httpJoystickMain_l;
//          evaluatedJoystick* joystick_l;
//  
//          //---variables ---
//          //struct for motor commands returned by generate functions of each mode
//          motorCommands_t commands;
//          //struct with config parameters
//          control_config_t config;
//  
//          //store joystick data
//          joystickData_t stickData;
//          bool altStickMapping; //alternative joystick mapping (reverse mapped differently)
//  
//          //variables for http mode
//          uint32_t http_timestamp_lastData = 0;
//  
//          //variables for MASSAGE mode
//          bool freezeInput = false;
//  
//          //variables for AUTO mode
//          auto_instruction_t instruction = auto_instruction_t::NONE; //variable to receive instructions from automatedArmchair
//          
//          //variable to store button event
//          uint8_t buttonCount = 0;
//  
//          //definition of mode enum
//          controlMode_t mode = controlMode_t::IDLE;
//  
//          //variable to store mode when toggling IDLE mode 
//          controlMode_t modePrevious; //default mode
//  
//          //command preset for idling motors
//          const motorCommand_t cmd_motorIdle = {
//              .state = motorstate_t::IDLE,
//              .duty = 0
//          };
//          const motorCommands_t cmds_bothMotorsIdle = {
//              .left = cmd_motorIdle,
//              .right = cmd_motorIdle
//          };
//  
//          //variable for slow loop
//          uint32_t timestamp_SlowLoopLastRun = 0;
//  
//          //variables for detecting timeout (switch to idle, after inactivity)
//          float dutyLeft_lastActivity = 0;
//          float dutyRight_lastActivity = 0;
//          uint32_t timestamp_lastActivity = 0;
//  };
//  
//