/**
 * @file driveManager.h
 * @author Alexander Klein (alex@kleiax.de)
 * @brief Contains a class to switch the DriveModi
 * @version 0.1
 * @date 2021-12-14
 * 
 * @copyright Copyright (c) 2021
 * 
 */

#ifndef DRIVE_MANAGER_H
#define DRIVE_MANAGER_H

#include "moveControl.h"
#include "driveModi/driveModi.h"
#include "navigation.h"
#include "config.h"
#include "controlPadInput.h"
#include "component.h"
#include "sensorData.h"

class DriveManager : public Component {
    public:
        /**
         * @brief Construct a new Drive Manager object
         * 
         * Creates a Navigation object
         * 
         * @param moveControl 
         */
        DriveManager(MoveControl *moveControl, const SensorData* sensorData, const ControlPadInput *input);
        DriveManager(DriveModiParams params);

        /**
         * @brief Destroy the Drive Manager object
         * 
         */
        ~DriveManager();

        /**
         * @brief Change the DriveModi to a specific value
         * 
         * Sets MoveControl to a safe state, delete the last
         * DriveModi and than set the new DriveModi
         * 
         * @param modus 
         */
        void changeModus(DriveModi* modus = nullptr);

        /**
         * @brief Get the DriveModi Ptr object
         * 
         * This is a pointer to the Object of the current DriveMode.
         * If you know which DriveMode is active, you can cast this
         * pointer to it.
         * 
         * @see getDriveModi
         * @return DriveModi* 
         */
        DriveModi* getDriveModiPtr() const { return this->currentModusPtr; }


        bool isActive() const { return this->currentModusPtr; }

    private:
        void run() override {};
        void init();

        DriveModi *currentModusPtr = nullptr;
        DriveModiParams driveModiParams;
};


#endif // DRIVE_MANAGER_H