#pragma once
//
//    FILE: radar.h
//  AUTHOR: Rob Tillaart
// VERSION: 0.1.6
// PURPOSE: Arduino library for a pan tilt radar.
//     URL: https://github.com/RobTillaart/RADAR


#include "Arduino.h"


#define RADAR_LIB_VERSION         (F("0.1.6"))


// TODO # positions in a begin() or constructor?
#ifndef RADAR_POSITIONS
#define RADAR_POSITIONS           10
#endif


class RADAR
{
public:
    RADAR(const uint8_t pinPan, const uint8_t pinTilt);

    // no valid range checking or negative value check.
    void     setPanPerSecond(float pps)  { _panPerSecond = pps; };
    float    getPanPerSecond()           { return _panPerSecond; };
    void     setTiltPerSecond(float tps) { _tiltPerSecond = tps; };
    float    getTiltPerSecond()          { return _tiltPerSecond; };

    // basic moves
    void     gotoPan(const int16_t pan);
    int16_t  getPan();
    void     gotoTilt(const int16_t tilt);
    int16_t  getTilt();
    void     gotoPanTilt(const int16_t pan, const int16_t tilt);

    // memory positions - store / recall?
    uint8_t  getMaxPositions()            { return RADAR_POSITIONS; };
    bool     setPosition(const uint8_t index, const int16_t pan, const int16_t tilt);
    bool     getPosition(const uint8_t index, int16_t & pan, int16_t & tilt);
    bool     gotoPosition(const uint8_t index);
    void     setHomePosition(const int16_t pan, const int16_t tilt);
    void     gotoHomePosition();

    // feedback on positions.
    bool     isMoving()     { return isPanMoving() || isTiltMoving(); };
    bool     isPanMoving()  { return getPan() != _pan; };
    bool     isTiltMoving() { return getTilt() != _tilt; };

    // TODO NIY
    uint32_t ping();
    uint32_t ping(const int16_t pan, const int16_t tilt);

private:
    int16_t  _pinPan;
    int16_t  _pinTilt;

    int16_t  _prevPan;
    int16_t  _pan;
    int16_t  _homePan;
    uint32_t _lastPanTime;

    int16_t  _prevTilt;
    int16_t  _tilt;
    int16_t  _homeTilt;
    uint32_t _lastTiltTime;

    int16_t  _panArray[RADAR_POSITIONS];
    int16_t  _tiltArray[RADAR_POSITIONS];

    float    _panPerSecond = 15;
    float    _tiltPerSecond = 15;
};


// -- END OF FILE --