#pragma once

#include <Arduino.h>
#include "Participants/IsolatedParticipant.h"
#include "Thing.h"
#include "Things/DifferentialDrive.h"
#include "Things/Motor.h"

namespace RoboidControl {
namespace Arduino {

class DRV8833Motor;

class DRV8833 : public Thing {
 public:
  struct Configuration {
    int AIn1;
    int AIn2;
    int BIn1;
    int BIn2;
  };

  /// @brief Setup a DRV8833 motor controller
  DRV8833(Configuration config, Participant* owner = nullptr);
  DRV8833(Configuration config, Thing* parent);

  DRV8833Motor* motorA = nullptr;
  DRV8833Motor* motorB = nullptr;

 protected:
  unsigned char pinStandby = 255;

 public:
  class DifferentialDrive;
};

#pragma region Differential drive

class DRV8833::DifferentialDrive : public RoboidControl::DifferentialDrive {
 public:
  DifferentialDrive(DRV8833::Configuration config,
                    Participant* participant = nullptr);
  DifferentialDrive(DRV8833::Configuration config, Thing* parent);

  virtual void Update(unsigned long currentTimeMs,
                      bool recurse = false) override;

 protected:
  DRV8833 drv8833;
};

#pragma endregion Differential drive

#pragma region Motor

/// @brief Support for a DRV8833 motor controller
class DRV8833Motor : public Motor {
 public:

  /// @brief Setup the DC motor
  /// @param pinIn1 the pin number for the in1 signal
  /// @param pinIn2 the pin number for the in2 signal
  /// @param direction the forward turning direction of the motor
  DRV8833Motor(DRV8833* driver,
               unsigned char pinIn1,
               unsigned char pinIn2,
               bool reverse = false);
  //void SetMaxRPM(unsigned int rpm);

  //virtual void SetAngularVelocity(Spherical velocity) override;
    virtual void SetTargetSpeed(float targetSpeed) override;
  //bool reverse = false;

 protected:
  unsigned char pinIn1 = 255;
  unsigned char pinIn2 = 255;
  //unsigned int maxRpm = 200;

#if (ESP32)
  uint8_t in1Ch;
  uint8_t in2Ch;
  static uint8_t nextAvailablePwmChannel;
#endif
};

#pragma endregion Moto

}  // namespace Arduino
}  // namespace RoboidControl