#pragma once

extern "C"
{
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include "esp_log.h"
#include "esp_timer.h"
}

#include "motordrivers.hpp"
#include "currentsensor.hpp"


//=======================================
//====== struct/type  declarations ======
//=======================================

//struct for sending command for one motor in the queue
struct motorCommand_t {
    motorstate_t state;
    float duty;
};

//struct containing commands for two motors
typedef struct motorCommands_t {
    motorCommand_t left;
    motorCommand_t right;
} motorCommands_t;

//struct with all config parameters for a motor regarding ramp and current limit
typedef struct motorctl_config_t {
    uint32_t msFadeAccel; //acceleration of the motor (ms it takes from 0% to 100%)
    uint32_t msFadeDecel; //deceleration of the motor (ms it takes from 100% to 0%)
	bool currentLimitEnabled;
	adc1_channel_t currentSensor_adc;
	float currentSensor_ratedCurrent;
    float currentMax;
	uint32_t deadTimeMs; //time motor stays in IDLE before direction change
} motorctl_config_t;

//enum fade type (acceleration, deceleration)
//e.g. used for specifying which fading should be modified with setFade, togleFade functions
enum class fadeType_t {ACCEL, DECEL};



//===================================
//====== controlledMotor class ======
//===================================
class controlledMotor {
    public:
        //--- functions ---
        controlledMotor(single100a_config_t config_driver,  motorctl_config_t config_control); //constructor with structs for configuring motordriver and parameters for control TODO: add configuration for currentsensor
        void handle(); //controls motor duty with fade and current limiting feature (has to be run frequently by another task)
        void setTarget(motorstate_t state_f, float duty_f = 0); //adds target command to queue for handle function
        motorCommand_t getStatus(); //get current status of the motor (returns struct with state and duty)

        void setFade(fadeType_t fadeType, bool enabled); //enable/disable acceleration or deceleration fading
        void setFade(fadeType_t fadeType, uint32_t msFadeNew); //set acceleration or deceleration fade time
        bool toggleFade(fadeType_t fadeType); //toggle acceleration or deceleration on/off
											  
		//TODO set current limit method

    private:
        //--- functions ---
        void init(); //creates currentsensor objects, motordriver objects and queue

        //--- objects ---
        //motor driver
        single100a motor;
        //queue for sending commands to the separate task running the handle() function very fast
        QueueHandle_t commandQueue = NULL;
		//current sensor
		currentSensor cSensor;

        //--- variables ---
        //struct for storing control specific parameters
        motorctl_config_t config;
        motorstate_t state = motorstate_t::IDLE;

        float currentMax;
        float currentNow;

        float dutyTarget;
        float dutyNow;
        float dutyIncrementAccel;
        float dutyIncrementDecel;
        float dutyDelta;

        uint32_t msFadeAccel;
        uint32_t msFadeDecel;

        uint32_t ramp;
        int64_t timestampLastRunUs;

		bool deadTimeWaiting = false;
		uint32_t timestampsModeLastActive[4] = {};
        motorstate_t statePrev = motorstate_t::FWD;

        struct motorCommand_t commandReceive = {};
        struct motorCommand_t commandSend = {};
};