/**
 * @file driveModi.h
 * @author Alexander Klein (alex@kleiax.de)
 * @brief Contains a virtual class for all Modi
 * @version 0.1
 * @date 2021-12-14
 *
 * @copyright Copyright (c) 2021
 *
 */

#ifndef DRIVEMODI_H
#define DRIVEMODI_H

#include "component.h"
#include "moveControl.h"
#include "controlPadInput.h"
#include "sensorData.h"

/**
 * @brief The struct contains all objects needed by a DriveMode
 */
struct DriveModiParams
{
    MoveControl *moveControl;
    const ControlPadInput *input;
    const SensorData *sensorData;
};

/**
 * @brief Baseclass to build DriveModi
 *
 * This class must be inherited by other classes which want to be
 * act as a DriveModi, because the DriveModi structure uses polymorphism.
 */
class DriveModi : public Component
{
public:
    virtual ~DriveModi();

    const SensorData *getSensorData() const { return this->sensorData; }

    /**
     * @brief This activates a DriveMode
     *
     * This function have to be called to provide the DriveMode
     * with this objects
     *
     * @param moveControl
     * @param input
     * @param sensorData
     */
    void activate(MoveControl *moveControl, ControlPadInput *input, SensorData *sensorData);
    void activate(DriveModiParams params);

    void setSpeeds(DrivingSpeeds speeds) { this->maxSpeeds = speeds; }
    DrivingSpeeds getSpeeds() const { return this->maxSpeeds; }
    DrivingSpeeds &getSpeedsRef() { return this->maxSpeeds; }

protected:
    /**
     * @brief Prepare other things
     *
     * This function can be overwritten to prepare things
     * for the specific DriveModi. This function will be
     * called after activate().
     */
    virtual void afterActivate() {}

    MoveControl *moveControl = nullptr;
    DrivingSpeeds maxSpeeds = {1, 7};
    const ControlPadInput *input = nullptr;
    const SensorData *sensorData = nullptr;

private:
    void init();

    static constexpr uint8_t defaultDelay = 40;
};
#endif // DRIVEMODI_H