#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_

#include "fsfw/thermal/tcsDefinitions.h"
#include "gyroAdisHelpers.h"

namespace acs {

enum SimpleSensorMode { NORMAL = 0, OFF = 1 };

struct Adis1650XRequest {
  SimpleSensorMode mode;
  adis1650x::Type type;
};

struct Adis1650XConfig {
  uint16_t diagStat;
  uint16_t filterSetting;
  uint16_t rangMdl;
  uint16_t mscCtrlReg;
  uint16_t decRateReg;
  uint16_t prodId;
};

struct Adis1650XData {
  double sensitivity = 0.0;
  // Angular velocities in all axes (X, Y and Z)
  int16_t angVelocities[3]{};
  double accelScaling = 0.0;
  // Accelerations in all axes
  int16_t accelerations[3]{};
  int16_t temperatureRaw = thermal::INVALID_TEMPERATURE;
};

struct Adis1650XReply {
  bool cfgWasSet = false;
  Adis1650XConfig cfg;
  bool dataWasSet = false;
  Adis1650XData data;
};

struct GyroL3gRequest {
  SimpleSensorMode mode = SimpleSensorMode::OFF;
  uint8_t ctrlRegs[5]{};
};

struct GyroL3gReply {
  bool cfgWasSet = false;
  uint8_t statusReg;
  // Angular velocities in all axes (X, Y and Z)
  int16_t angVelocities[3]{};
  int8_t tempOffsetRaw = 0;
  uint8_t ctrlRegs[5]{};
  float sensitivity = 0.0;
};

struct MgmRm3100Request {
  SimpleSensorMode mode = SimpleSensorMode::OFF;
};

struct MgmRm3100Reply {
  bool dataWasRead = false;
  float scaleFactors[3]{};
  int32_t mgmValuesRaw[3]{};
};

struct MgmLis3Request {
  SimpleSensorMode mode = SimpleSensorMode::OFF;
};

struct MgmLis3Reply {
  bool dataWasSet = false;
  float sensitivity = 0.0;
  int16_t mgmValuesRaw[3]{};
  bool temperatureWasSet = false;
  int16_t temperatureRaw = thermal::INVALID_TEMPERATURE;
};

struct SusRequest {
  SimpleSensorMode mode = SimpleSensorMode::OFF;
};

struct SusReply {
  bool dataWasSet = false;
  uint16_t tempRaw = 0;
  uint16_t channelsRaw[6]{};
};

}  // namespace acs

#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_ */