/**
 * @file manualControl.h
 * @author Alexander Klein (alex@kleiax.de)
 * @brief A small class to drive the Rover by the controller joystick.
 * @version 0.1
 * @date 2021-12-13
 *
 * @copyright Copyright (c) 2021
 *
 */
#ifndef MANUAL_CONTROL_H
#define MANUAL_CONTROL_H

#include "driveModi/driveModi.h"

class DirectionChangeWrapper
{
public:
    virtual void action() = 0;
};

/**
 * @brief Drive the Rover with a Joystick
 *
 * This class gets the x and y value from the ControlPad
 * and map the values to moveControl
 *
 * @see MoveControl
 */
class ManualControl : public DriveModi
{
public:
    /**
     * @brief The enum is used to change the interpretation of the joystick data
     */
    enum class InputMode : uint8_t
    {
        Analog,
        Digital
    };

    /**
     * @brief Change the InputMode to the opposite
     */
    void switchInputMode();
    void setInputMode(InputMode mode) { this->inputMode = mode; }
    InputMode getInputMode() const { return this->inputMode; }

    /**
     * @brief Set the DirectionChangeWrapper object
     *
     * This callback is used to inform the CalcAzimuth Component about a direction change
     *
     * @param callback
     */
    void setDirectionChangeCallback(DirectionChangeWrapper *callback) { this->directionChangeWrapper = callback; }

    uint16_t getDutycycleLeft() const { return this->moveControl->getDutycycleLeft(); }
    uint16_t getDutycycleRight() const { return this->moveControl->getDutycycleRight(); }

protected:
    void run() override;

private:
    void analogControl();
    void digitalControl();

    bool lastLoopTurned = false;
    DirectionChangeWrapper *directionChangeWrapper = nullptr;
    InputMode inputMode = InputMode::Analog;
};

#endif // MANUAL_CONTROL_H