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

#ifndef SENSORS_H
#define SENSORS_H

#include <SPI.h>
#include <iostream>
//Sensors
#include <SparkFun_u-blox_GNSS_Arduino_Library.h>
#include <QMC5883LCompass.h>
// Gyroskop

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

class Sensors : public Component {
    public:
        enum CalcAzimuthState {
            Invalid,
            Bad,
            Ok,
            Good,
            Super
        };

        Sensors();

        void run() override;
        void runAsChild() override;

        void enableGnss(SPIClass* spiPort, uint8_t csPin);
        void enableGnss();
        void enableCompass();
        void enableGyroskop();

        /**
         * @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 initGnss();

        QMC5883LCompass* compass = nullptr;
        SFE_UBLOX_GNSS* gnss = nullptr;

        CalcAzimuthState calcAzimuthState = CalcAzimuthState::Invalid;

        int16_t realAzimuth = INT16_MAX;

        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 // SENSORS_H