/**
 * @file sensorData.h
 * @author Alexander Klein (alex@kleiax.de)
 * @brief Contains the SensorData class
 * @version 0.1
 * @date 2023-09-02
 *
 * @copyright Copyright (c) 2023
 *
 */

#ifndef SENSOR_DATA_H
#define SENSOR_DATA_H

#include <SPI.h>
#include <iostream>

#include "component.h"
#include "calibrateCompass.h"

#include <SparkFun_u-blox_GNSS_Arduino_Library.h>
#include <QMC5883LCompass.h>

#include "point.h"

/**
 * @brief A class to manage all sensors
 *
 * Each sensor have separately to be enabled
 */
class SensorData : public Component
{
public:
    SensorData();
    ~SensorData();

    /**
     * @brief Enable the gnss module over spi
     *
     * @param spiPort
     * @param csPin
     */
    void enableGnss(SPIClass *spiPort, uint8_t csPin);

    /**
     * @brief Enable the gnss module over i2c
     */
    void enableGnss();

    void enableRealCompass();
    void enableCalcCompass();

    // Interface Const
    /**
     * @brief Get the azimuth measured by the compass module
     *
     * @return int16_t
     */
    int16_t getRealAzimuth() const { return this->realAzimuth; }

    Point getCurrentPos() const { return this->currentPosition; }
    const UBX_NAV_PVT_data_t *getGnssData() const { return this->gnssData; };

    /**
     * @brief Get the RealCompass object
     * @return QMC5883LCompass*
     */
    QMC5883LCompass *getRealCompass() const { return this->realCompass; }

    // static
    /**
     * @brief Set the output status for PVTdata.
     *
     * If this is true, a lot of information from the gnss module will be printed in
     * the interval of navigation frequency.
     *
     * @param status
     */
    static void setOutputStatusPrintPVTdata(bool status);

private:
    void run() override;
    void runAsChild() override;
    void initGnss();
    void updateUbxData();

    QMC5883LCompass *realCompass = nullptr;
    SFE_UBLOX_GNSS *gnss = nullptr;

    UBX_NAV_PVT_data_t *gnssData = nullptr;
    Point currentPosition;

    int16_t realAzimuth = INT16_MAX;
    uint32_t lastUbxUpdate = 0;

    // static
    static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
    static void savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);

    static UBX_NAV_PVT_data_t *ubxDataStatic;
    static uint32_t ubxUpdateTimeStatic;
    static bool outputStatusPrintPVTdata;

    static constexpr uint8_t loopDelay = 50;
};

#endif // SENSOR_DATA_H