/**
 * @file calibrateCompass.h
 * @author Alexander Klein (alex@kleiax.de)
 * @brief Contains a class to calibrate the compass module
 * @version 0.1
 * @date 2023-05-23
 *
 * @copyright Copyright (c) 2023
 *
 */

#pragma once

#include <QMC5883LCompass.h>
#include <Preferences.h>
#include <iostream>

#include "component.h"

/**
 * @brief A Class to calibrate the compass
 *
 * This class reads the raw values of the compass while
 * the rove have to be moved. The lowest and highest values
 * are used to calibrate the compass to the current location.
 */
class CalibrateCompass : public Component
{
public:
    /**
     * @brief State of the calibration process
     */
    enum State
    {
        Ready,
        Calibrating,
        Finished
    };

    /**
     * @brief Type for calibration data
     *
     * The data consist of 6 values. For each for the 3 axis
     * are to integer needed.
     */
    struct CalibrationData
    {
        int data[3][2];
    };

    CalibrateCompass(QMC5883LCompass *compass);

    /**
     * @brief Starts the calibration
     */
    void start();

    /**
     * @brief Use the measured calibration data
     */
    void useData();

    /**
     * @brief Remove the measured calibration data
     */
    void removeCalibration();

    /**
     * @brief Reset the calibration process to start again
     */
    void reset();

    /**
     * @brief Save the measured calibration data to the flash
     */
    void saveData();

    /**
     * @brief Load the measured calibration data from the flash
     *
     */
    void loadData();

    State getState() const { return this->state; }
    CalibrationData getCalibrationData() const { return this->data; }

    /**
     * @brief Makes the calibration data printable with std::cout()
     *
     * @param stream
     * @param caliComp
     * @return std::ostream&
     */
    friend std::ostream &operator<<(std::ostream &stream, const CalibrateCompass &caliComp);

private:
    void runAsChild() override;
    void run() override;
    void checkDataValidity();

    QMC5883LCompass *compass;
    State state = State::Ready;
    CalibrationData data{};

    void clearData();

    bool dataValid = false;
    const uint16_t maxTimeWithoutChange = 10000;
    uint32_t lastChange = 0;
};