/**
 * @file sensorData.h
 * @author Alexander Klein (alex@kleiax.de)
 * @brief 
 * @version 0.1
 * @date 2023-09-02
 * 
 * @copyright Copyright (c) 2023
 * 
 */

#ifndef SENSOR_DATA_H
#define SENSOR_DATA_H

#include <SPI.h>
#include <iostream>

#include "component.h"
#include "calibrateCompass.h"

#include <SparkFun_u-blox_GNSS_Arduino_Library.h>
#include <QMC5883LCompass.h>
// Gyroskop
#include "calcAzimuth.h"
#include "ntripClient.h"

#include "point.h"
class Sensors;

class SensorData : public Component {
    public:
        SensorData();
        ~SensorData();
        
        void enableNtrip(String host, uint16_t port, String mountPoint, String user, String password);
        void enableGnss(SPIClass* spiPort, uint8_t csPin);
        void enableGnss();
        void enableRealCompass();
        void enableCalcCompass();
        void enableGyroskop();

        // Interface Const kram
        int16_t getRealAzimuth() const { return this->realAzimuth; }
        int16_t getCalcAzimuth() const { return this->calcAzimuth; }
        CalcAzimuth::State getCalcAzimuthState() const;

        Point getCurrentPos() const { return this->currentPosition; }
        const UBX_NAV_PVT_data_t* getGnssData() const { return this->gnssData; };
        const void* const getGyroData() const;

        CalcAzimuth* getCalcCompass() const { return this->calcCompass; }
        QMC5883LCompass* getRealCompass() const { return this->realCompass; }
        NTRIPClient* getNtripClient() const { return this->ntripClient; }

        // static
        /**
         * @brief Set the output status for PVTdata.
         * 
         * If this is true, a lot of information from the gnss module will be printed in
         * the interval of navigation frequency.
         * 
         * @param status 
         */
        static void setOutputStatusPrintPVTdata(bool status);

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

        QMC5883LCompass* realCompass = nullptr;
        CalcAzimuth* calcCompass = nullptr;
        SFE_UBLOX_GNSS* gnss = nullptr;
        NTRIPClient* ntripClient = nullptr;

        UBX_NAV_PVT_data_t* gnssData;
        Point currentPosition;

        char* host;
        char* mountPoint;
        char* user;
        char* password;
        
        bool isNtripInit = false;

        uint16_t port;
        int16_t realAzimuth = INT16_MAX;
        int16_t calcAzimuth = INT16_MAX;

        // static
        static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
        static void savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);

        static UBX_NAV_PVT_data_t* ubxDataStatic;

        static uint32_t ubxUpdateTimeStatic;

        static bool outputStatusPrintPVTdata;
        static bool newData;
};

#endif //SENSOR_DATA_H