#pragma once

#include "Things/RelativeEncoder.h"
#include "Things/TouchSensor.h"

namespace RoboidControl {
namespace Arduino {

/// @brief A digital input represents the stat of a digital GPIO pin
class DigitalInput : public Thing {
 public:
  /// @brief Create a new digital input
  /// @param participant The participant to use
  /// @param pin The digital pin
  DigitalInput(Participant* participant, unsigned char pin);
  // DigitalInput(Thing* parent, unsigned char pin);
  DigitalInput(unsigned char pin, Thing& parent);

  bool isHigh = false;
  bool isLow = false;

  /// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
  virtual void Update(bool recursive = false) override;

 protected:
  /// @brief The pin used for digital input
  unsigned char pin = 0;

 public:
  class TouchSensor;
  class RelativeEncoder;
};

#pragma region Touch sensor

class DigitalInput::TouchSensor : public RoboidControl::TouchSensor {
 public:
  TouchSensor(unsigned char pin, Thing& parent);

  /// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
  virtual void Update(bool recurse = false) override;

 protected:
  DigitalInput digitalInput;
};

#pragma endregion Touch sensor

#pragma region Incremental encoder

class DigitalInput::RelativeEncoder : public RoboidControl::RelativeEncoder {
 public:
  struct Configuration {
    unsigned char pin;
    unsigned char pulsesPerRevolution;
  };

  RelativeEncoder(Configuration config, Thing& parent = Thing::LocalRoot());

  unsigned char pulsesPerRevolution;

  /// @brief The current pulse frequency in Hz
  float pulseFrequency = 0;

  /// @copydoc RoboidControl::Thing::Update()
  virtual void Update(bool recurse = false) override;

 protected:
  DigitalInput digitalInput;

  int interruptIx = 0;

  static int interruptCount;

  volatile static int pulseCount0;
  static void PulseInterrupt0();

  volatile static int pulseCount1;
  static void PulseInterrupt1();

  int GetPulseCount();
  long netPulseCount = 0;
  unsigned long lastUpdateTime = 0;

 private:
  void Start();
};

#pragma endregion Incremental encoder

}  // namespace Arduino
}  // namespace RoboidControl