/**
 * @author Rémi Heredero
 * @version 1.0.0
 * @date September 2023
 * @file steering.h
 */
#ifndef STEERING_H
#define STEERING_H

#include "../xf/xf.h"
#include "../middleware/alive.h"

typedef enum {
    STST_INIT = 110,
    STST_WAIT,
    STST_RUN,
    STST_DEAD
} STEERING_STATES;

typedef enum {
    evSTinit = 110,
    evSTstart,
    evSTstop,
    evSTresurrect,
    evSTpollDir
} STEERING_EVENTS;

typedef void (*STEERING_CALLBACK_FUNCTION)(void*);
typedef struct {
    STEERING_CALLBACK_FUNCTION f; // function
    void* p; // param(s)
} STEERING_CALLBACK;

typedef struct {
    STEERING_STATES state;
    ALIVE myChecker;
    STEERING_CALLBACK wait;
    STEERING_CALLBACK run;
    STEERING_CALLBACK dead;
} STEERING;

/**
 * Initialize the STEERING
 * @param me the STEERING itself
 */
void STEERING_init(STEERING* me);

/**
 * Start the STEERING state machine
 * @param me the STEERING itself
 */
void STEERING_startBehaviour(STEERING* me);

/**
 * Process the event
 * @param ev the event to process
 * @return true if the event is processed
 */
bool STEERING_processEvent(Event* ev);

/*************
 * Callbacks *
 *************/

/**
 * Set the callback function to call when the STEERING is entering state wait
 * @param me the STEERING itself
 * @param f the function to call
 * @param p the param(s) to pass to the function
 */
void STEERING_onWait(STEERING* me, STEERING_CALLBACK_FUNCTION f, void* p);

/**
 * Set the callback function to call when the STEERING is entering state run
 * @param me the STEERING itself
 * @param f the function to call
 * @param p the param(s) to pass to the function
 */
void STEERING_onRun(STEERING* me, STEERING_CALLBACK_FUNCTION f, void* p);

/**
 * Set the callback function to call when the STEERING is entering state dead
 * @param me the STEERING itself
 * @param f the function to call
 * @param p the param(s) to pass to the function
 */
void STEERING_onDead(STEERING* me, STEERING_CALLBACK_FUNCTION f, void* p);

/************
 * EMITTERS *
 ************/

/**
 * Emit the start event
 * @param p the STEERING itself
 */
void STEERING_emitStart(void* p);

/**
 * Emit the stop event
 * @param p the STEERING itself
 */
void STEERING_emitStop(void* p);

/**
 * Emit the resurrect event
 * @param p the STEERING itself
 */
void STEERING_emitResurrect(void* p);

/**
 * Emit the pollDir event
 * @param me the STEERING itself
 * @param t time to wait in ms before triggering event
 * @param data data to put on the event for XF
 */
void STEERING_emitPollDir(void* p);

/***********
 * SETTERS *
 ***********/


#endif