#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_

#include "fsfw/FSFW.h"
#include "devicedefinitions/GyroL3GD20Definitions.h"

#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>

/**
 * @brief 	Device Handler for the L3GD20H gyroscope sensor
 *          (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
 * @details
 * Advanced documentation:
 * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/L3GD20H_Gyro
 *
 * Data is read big endian with the smallest possible range of 245 degrees per second.
 */
class GyroHandlerL3GD20H: public DeviceHandlerBase {
public:
    GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
            CookieIF* comCookie, uint32_t transitionDelayMs);
    virtual ~GyroHandlerL3GD20H();

    /**
     * Set the absolute limit for the values on the axis in degrees per second.
     * The dataset values will be marked as invalid if that limit is exceeded
     * @param xLimit
     * @param yLimit
     * @param zLimit
     */
    void setAbsoluteLimits(float limitX, float limitY, float limitZ);

    /**
     * @brief   Configure device handler to go to normal mode immediately
     */
    void setToGoToNormalMode(bool enable);
protected:

    /* DeviceHandlerBase overrides */
    ReturnValue_t buildTransitionDeviceCommand(
            DeviceCommandId_t *id) override;
    void doStartUp() override;
    void doShutDown() override;
    ReturnValue_t buildNormalDeviceCommand(
            DeviceCommandId_t *id) override;
    ReturnValue_t buildCommandFromCommand(
            DeviceCommandId_t deviceCommand, const uint8_t *commandData,
            size_t commandDataLen) override;
    ReturnValue_t scanForReply(const uint8_t *start, size_t len,
            DeviceCommandId_t *foundId, size_t *foundLen) override;
    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
            const uint8_t *packet) override;

    void fillCommandAndReplyMap() override;
    void modeChanged() override;
    virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
    ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
            LocalDataPoolManager &poolManager) override;

private:
    uint32_t transitionDelayMs = 0;
    GyroPrimaryDataset dataset;

    float absLimitX = L3GD20H::RANGE_DPS_00;
    float absLimitY = L3GD20H::RANGE_DPS_00;
    float absLimitZ = L3GD20H::RANGE_DPS_00;

    enum class InternalState {
        NONE,
        CONFIGURE,
        CHECK_REGS,
        NORMAL
    };
    InternalState internalState = InternalState::NONE;
    bool commandExecuted = false;

    uint8_t statusReg = 0;
    bool goNormalModeImmediately = false;

    uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
    uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
    uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
    uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
    uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;

    uint8_t commandBuffer[L3GD20H::READ_LEN + 1];

    // Set default value
    float sensitivity = L3GD20H::SENSITIVITY_00;

#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
    PeriodicOperationDivider* debugDivider = nullptr;
#endif
};



#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */