/**
 * @file motorControl.h
 * @author Alexander Klein (alex@kleiax.de)
 * @brief Inherits a class to control a motor with pwm signal.
 * @version 0.1
 * @date 2021-12-09
 *
 * @copyright Copyright (c) 2021
 *
 */
#ifndef MOTOR_CONTROL_H
#define MOTOR_CONTROL_H

#include <cstdint>
#include <string>
#include <iostream>
#include <Arduino.h>

#include "component.h"

/**
 * @brief A class which use PWM to control the power of DC Motor
 * You can control the acceleration of the motor, for example to
 * prevent a damage on your H-Bridge.
 */
class MotorControl : public Component
{
public:
    MotorControl();

    /**
     * @brief Initialize the motorController
     *
     * @param pwmPin The output pin for the signal on the esp.
     * @param pwmChannel One of the pwm channels from the esp.
     * @param dir_1 First direction pin for the H-Bridge.
     * @param dir_2 Second direction pin for the H-Bridge.
     */
    void init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8_t dir_2);

    /**
     * @brief Set the Target Power
     *
     * If the given power is greater than 100 or smaller than -100, then
     * this function only print an error to consol.
     *
     * @param power power in percent
     */
    void setTargetPower(int8_t power);

    /**
     * @brief Stops the motor like setTargetPower() to 0
     *
     */
    void stop();

    /**
     * @brief Stops the motor immediately
     *
     */
    void emergencyStop();

    /**
     * @brief Get the current power
     *
     * @return int8_t percent of power (-100 to 100)
     */
    int8_t getPower() const { return this->power; };

    /**
     * @brief Get the target power
     *
     * @return int8_t percent of power (-100 to 100)
     */
    int8_t getTargetPower() const { return this->targetPower; };

    uint16_t getDutycycle() const { return this->dutycycle; }
    bool isTargetPowerReached() const;
    bool isAccelerationPositive() const;
    bool isAccelerationNegative() const;

private:
    void run() override;
    void setRealPower(int8_t power);
    void increasePower(int8_t power);

    static constexpr uint8_t loopDelay = 10;
    static constexpr uint16_t pwmFreq = 16000;
    static constexpr uint8_t pwmRes = 8;
    static constexpr uint8_t powerSteps = 2; //  A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
    static constexpr uint8_t maxPwmMin = 80;
    static constexpr uint8_t maxPwmVal = 250;
    static constexpr uint8_t minPwmVal = 55; // Max 98% of 2^PWM_RES

    int8_t targetPower = 0;
    int8_t power = 0;
    uint8_t direction = 0; // 0 = stop, 1 = forward, 2 = backward

    uint8_t pwmPin = 0;
    uint8_t pwmChannel = 0;
    uint16_t dutycycle = 0;
    uint8_t dir_1 = 0;
    uint8_t dir_2 = 0;
};

#endif // MOTOR_CONTROL_H