#pragma once

namespace Passer {
namespace RoboidControl {

/// @brief An Encoder measures the rotations of an axle using a rotary
/// sensor Some encoders are able to detect direction, while others can not.
class IncrementalEncoder {
public:
  /// @brief Creates a sensor which measures distance from pulses
  /// @param pulsesPerRevolution The number of pulse edges which make a
  /// full rotation
  /// @param distancePerRevolution The distance a wheel travels per full
  /// rotation
  IncrementalEncoder(unsigned char pulsesPerRevolution = 1,
                     unsigned char distancePerRevolution = 1);

  /// @brief Get the total number of pulses since the previous call
  /// @return The number of pulses, is zero or greater
  virtual int GetPulseCount();
  /// @brief Get the pulse speed since the previous call
  /// @param currentTimeMs The clock time in milliseconds
  /// @return The average pulses per second in the last period.
  virtual float GetPulsesPerSecond(float currentTimeMs);

  /// @brief Get the distance traveled since the previous call
  /// @return The distance in meters.
  virtual float GetDistance();

  /// @brief Get the rotation speed since the previous call
  /// @param currentTimeMs The clock time in milliseconds
  /// @return The speed in rotations per second
  virtual float GetRevolutionsPerSecond(float currentTimeMs);

  /// @brief Get the speed since the previous call
  /// @param currentTimeMs The clock time in milliseconds
  /// @return The speed in meters per second.
  /// @note this value is dependent on the accurate setting of the
  /// pulsesPerRevolution and distancePerRevolution parameters;
  virtual float GetSpeed(float currentTimeMs);

  /// @brief The numer of pulses corresponding to a full rotation of the axle
  unsigned char pulsesPerRevolution = 1;
  /// @brief The number of revolutions which makes the wheel move forward 1
  /// meter
  unsigned char distancePerRevolution = 1;
};

} // namespace RoboidControl
} // namespace Passer
using namespace Passer::RoboidControl;