/**
 * @file navigation.h
 * @author Alexander Klein (alex@kleiax.de)
 * @brief Contains a class which navigate an object by the given route
 * @version 0.1
 * @date 2022-01-10
 * 
 * @copyright Copyright (c) 2022
 * 
 */

#ifndef NAVIGATION_H
#define NAVIGATION_H

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

#include "route.h"
#include "sensorData.h"
#include "component.h"

/**
 * @brief This struct inherits the result of the navigation
 * 
 * The drive get objects of this struct and should
 * correct the direction in dependency on this.
 * 
 */
struct CourseCorrection {
    int16_t correction;
    double distance;
};

/**
 * @brief This class navigate an object
 * 
 * The class use the given Route and the gps device
 * to tell the driver in which direction he have to
 * be drive and the distance to the next checkpoint.
 * 
 */
class Navigation : public Component {
    public:
        enum Status {
            InsufficientAccuracy,
            Unchanged,
            Updated,
            Complete
        };

        /**
         * @brief Construct a new Navigation object and using I2C
         * 
         * @param route with which to navigate
         */
        Navigation(const SensorData* sensorData, Route* route = nullptr);

        /**
         * @brief Destroy the Navigation object
         * 
         */
        ~Navigation();

        /**
         * @brief creates a new empty route
         * 
         */
        void newRoute();

        /**
         * @brief Tries to start the route
         * 
         * For example the route can not be started 
         * if there are no Points or wrong Points.
         * 
         * @return true route is started
         * @return false route can not be started
         */
        bool startNavigation();
        void freezeTargetPoint(bool val = true) { this->preventNextPoint = val; };
        
        
        double increaseMinDistanceToReachPoint() { return this->minDistanceToReachPoint += 0.1; }
        double decreaseMinDistanceToReachPoint() { return this->minDistanceToReachPoint -= 0.1; }

        // TODO: Dokumentation korrigieren.
        /**
         * @brief Get the Course Correction object
         * 
         * This should be called by the driver to get new instructions.
         * 
         * @param correction passed as refernce to get the data
         * @return true if new correction data provided
         * @return false if route is finished 
         */
        Status getCourseCorrection(CourseCorrection& correction, bool forceUpdate = false);


        // TODO: Dokumentation korrigieren.
        /**
         * @brief Tries to add the current Position to the route
         * 
         * This can be go wrong if there is no valid GPS signal
         * 
         * @return true successful added point
         * @return false no point added to route
         */
        Status addCurrentPosToRoute();

        /**
         * @brief Get the Route Info object
         * 
         * This object contains information about the route.
         * For example the stored points.
         * 
         * @return RouteInfo 
         */
        RouteInfo getRouteInfo() const { return this->route->getRouteInfo(); }
        Route* getRoute() const { return this->route; }
        Point getCurrentPosition() const { return this->currentPosition; }

        Point::Accuracy getMinAccuracy() const { return this->minAccuracy; }
        void setMinAccuracy(Point::Accuracy accuracy) { this->minAccuracy = accuracy; }

        // map input in range from -180 to 180 degree
        static int16_t fixDegree(int16_t degree);

    private:
        void run() override;
        void init(Route* route);
        bool nextPoint();
        bool setTargetPoint(Point target);
        int16_t calculateCourseCorrection(Point& point);

        static constexpr uint8_t loopDelay = 20;
        static constexpr uint8_t maxDisBetweenPoints = 10;
        static constexpr float minDisBetweenPoints = 0.3;
        
        const SensorData* sensorData;
        Route* route = nullptr;        

        Point lastPointRouteInsert;
        Point lastPointCalcCorrection;
        Point lastPointDrivingDirectionChange;
        Point targetPoint;
        Point currentPosition;
        Point::Accuracy minAccuracy = Point::Accuracy::twoDigOfCM;
        
        bool navigationStarted = false;
        bool navigationFinished = false;
        bool isNtripInit = false;
        bool preventNextPoint = false;
        bool directionChangeMode = false;
        bool lastUsedCalcAzimuth = false;

        uint8_t timeToWait = 200;
        uint32_t lastMillis = 0;
        uint32_t ubxUpdateTime = 0;

        double minDistanceToReachPoint = 0.5;
};

#endif // NAVIGATION_H