/**
 * @file driveModi.h
 * @author Alexander Klein (alex@kleiax.de)
 * @brief Contains a virtual class for all Modi
 * @version 0.1
 * @date 2021-12-14
 * 
 * @copyright Copyright (c) 2021
 * 
 */

#ifndef DRIVEMODI_H
#define DRIVEMODI_H

#include "component.h"
#include "moveControl.h"
#include "controlPadInput.h"
#include "sensorData.h"

struct DriveModiParams {
    MoveControl* moveControl;
    const ControlPadInput* input;
    const SensorData* sensorData;
};

/**
 * @brief Baseclass to build DriveModi
 * 
 * This class must be inherited by other classes which want to be
 * act as a DriveModi, because the DriveModi structure uses polymorphism.
 */
class DriveModi : public Component {
    public:
        virtual ~DriveModi();

        const SensorData* getSensorData() const { return this->sensorData; }

        void activate(MoveControl* moveControl, ControlPadInput* input, SensorData* sensorData);
        void activate(DriveModiParams params);

        void setSpeeds(DrivingSpeeds speeds) { this->maxSpeeds = speeds; }
        DrivingSpeeds getSpeeds() const { return this->maxSpeeds; }
        DrivingSpeeds& getSpeedsRef() { return this->maxSpeeds; }

    protected:
        virtual void afterActivate() {}

        MoveControl *moveControl = nullptr;
        DrivingSpeeds maxSpeeds = {1, 7};
        const ControlPadInput* input = nullptr;
        const SensorData* sensorData = nullptr;

    private:
        void init();   

        static constexpr uint8_t defaultDelay = 40;     
};
#endif // DRIVEMODI_H