#ifndef SENSORPROCESSING_H_
#define SENSORPROCESSING_H_

#include <common/config/eive/resultClassIds.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/constants.h>
#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/globalfunctions/timevalOperations.h>
#include <fsfw/returnvalues/returnvalue.h>
#include <mission/controller/acs/AcsParameters.h>
#include <mission/controller/acs/Igrf13Model.h>
#include <mission/controller/acs/SensorValues.h>
#include <mission/controller/acs/SusConverter.h>
#include <mission/controller/acs/util/MathOperations.h>
#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>

#include <cmath>

class SensorProcessing {
 public:
  SensorProcessing();
  virtual ~SensorProcessing();

  void process(timeval now, ACS::SensorValues *sensorValues,
               acsctrl::MgmDataProcessed *mgmDataProcessed,
               acsctrl::SusDataProcessed *susDataProcessed,
               acsctrl::GyrDataProcessed *gyrDataProcessed,
               acsctrl::GpsDataProcessed *gpsDataProcessed,
               const AcsParameters *acsParameters);  // Will call protected functions
 private:
  static constexpr float ZERO_VEC_F[3] = {0, 0, 0};
  static constexpr double ZERO_VEC_D[3] = {0, 0, 0};

 protected:
  // short description needed for every function
  void processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value, bool mgm1valid,
                  const float *mgm2Value, bool mgm2valid, const float *mgm3Value, bool mgm3valid,
                  const float *mgm4Value, bool mgm4valid, timeval timeOfMgmMeasurement,
                  const AcsParameters::MgmHandlingParameters *mgmParameters,
                  acsctrl::GpsDataProcessed *gpsDataProcessed, const double gpsAltitude,
                  bool gpsValid, acsctrl::MgmDataProcessed *mgmDataProcessed);

  void processSus(const uint16_t *sus0Value, bool sus0valid, const uint16_t *sus1Value,
                  bool sus1valid, const uint16_t *sus2Value, bool sus2valid,
                  const uint16_t *sus3Value, bool sus3valid, const uint16_t *sus4Value,
                  bool sus4valid, const uint16_t *sus5Value, bool sus5valid,
                  const uint16_t *sus6Value, bool sus6valid, const uint16_t *sus7Value,
                  bool sus7valid, const uint16_t *sus8Value, bool sus8valid,
                  const uint16_t *sus9Value, bool sus9valid, const uint16_t *sus10Value,
                  bool sus10valid, const uint16_t *sus11Value, bool sus11valid,
                  timeval timeOfSusMeasurement,
                  const AcsParameters::SusHandlingParameters *susParameters,
                  const AcsParameters::SunModelParameters *sunModelParameters,
                  acsctrl::SusDataProcessed *susDataProcessed);

  void processGyr(const double gyr0axXvalue, bool gyr0axXvalid, const double gyr0axYvalue,
                  bool gyr0axYvalid, const double gyr0axZvalue, bool gyr0axZvalid,
                  const double gyr1axXvalue, bool gyr1axXvalid, const double gyr1axYvalue,
                  bool gyr1axYvalid, const double gyr1axZvalue, bool gyr1axZvalid,
                  const double gyr2axXvalue, bool gyr2axXvalid, const double gyr2axYvalue,
                  bool gyr2axYvalid, const double gyr2axZvalue, bool gyr2axZvalid,
                  const double gyr3axXvalue, bool gyr3axXvalid, const double gyr3axYvalue,
                  bool gyr3axYvalid, const double gyr3axZvalue, bool gyr3axZvalid,
                  timeval timeOfGyrMeasurement,
                  const AcsParameters::GyrHandlingParameters *gyrParameters,
                  acsctrl::GyrDataProcessed *gyrDataProcessed);

  void processGps(const double gpsLatitude, const double gpsLongitude, const double gpsAltitude,
                  const double gpsUnixSeconds, const bool validGps,
                  const AcsParameters::GpsParameters *gpsParameters,
                  acsctrl::GpsDataProcessed *gpsDataProcessed);

  void lowPassFilter(double *newValue, double *oldValue, const double weight);

  double savedMgmVecTot[3] = {0.0, 0.0, 0.0};
  timeval timeOfSavedMagFieldEst;
  double savedSusVecTot[3] = {0.0, 0.0, 0.0};
  timeval timeOfSavedSusDirEst;
  bool validMagField = false;

  double savedPosSatE[3] = {0.0, 0.0, 0.0};
  double timeOfSavedPosSatE = 0.0;
  bool validSavedPosSatE = false;

  SusConverter susConverter;
};

#endif /*SENSORPROCESSING_H_*/