/**
 * @file captureRoute.h
 * @author Alexander Klein (alex@kleiax.de)
 * @brief Contains a class to capture a driven route
 * @version 0.1
 * @date 2022-02-15
 * 
 * @copyright Copyright (c) 2022
 * 
 */

#ifndef CAPTURE_ROUTE_H
#define CAPTURE_ROUTE_H

#include <iostream>

#include "driveModi/Modi/ManualControl/manualControl.h"
#include "navigation.h"

/**
 * @brief A class to capture a driven class
 * 
 * This class inherits ManualControl so you can drive
 * normally as in ManualControl. If GPS signal is valid
 * you can add a Point everytime you want.
 * 
 */
class CaptureRoute : public ManualControl {
    public:
        /**
         * @brief Construct a new Capture Route object
         * 
         * @param moveControl for ManualControl
         * @param navigation to add Points
         */
        CaptureRoute(MoveControl* moveControl, Ps3Controller *gamepad, Navigation* navigation);

        /**
         * @brief Calls runCaptureRoute and ManualControl::loop
         * 
         * Calls everytime the other loop but only calls runCaptureRoute
         * if the delay is reached.
         * 
         */
        void loop();

        /**
         * @brief Checks if a Point should be added to the Route
         * 
         */
        void runCaptureRoute();

        // /**
        //  * @brief Get the Navigation object
        //  * 
        //  * @return Navigation* 
        //  */
        // Navigation* getNavigation() const { return this->navigation; }

        /**
         * @brief Get the Route Info object
         * 
         * @return RouteInfo 
         */
        RouteInfo getRouteInfo() const { return this->routeInfo; }

        /**
         * @brief Tells if there are new informations to display
         * 
         * @return true 
         * @return false 
         */
        bool shouldUpdate();
    private:
        Navigation* navigation;
        RouteInfo routeInfo;

        uint32_t lastMillis = 0;
        uint16_t delay = 200;

        bool updateDisplay = false;
};

#endif // CAPTURE_ROUTE_H