#ifndef _SURVIVE_H
#define _SURVIVE_H

#include <stdint.h>
#include "survive_types.h"
#include "poser.h"

//DANGER: This structure may be redefined.  Note that it is logically split into 64-bit chunks
//for optimization on 32- and 64-bit systems.

struct SurviveObject
{
	SurviveContext * ctx;

	char    codename[4];    //3 letters, null-terminated.  Currently HMD, WM0, WM1.
	char    drivername[4];  //3 letters for driver.  Currently "HTC"
	int16_t buttonmask;
	int16_t axis1;

	int16_t axis2;
	int16_t axis3;
	int8_t  charge;
	int8_t  charging:1;
	int8_t  ison:1;
	int8_t  additional_flags:6;

	//Pose Information, also "poser" field.
	FLT    PoseConfidence; //0..1
	SurvivePose OutPose;
	SurvivePose FromLHPose[NUM_LIGHTHOUSES]; //Optionally filled out by poser, contains computed position from each lighthouse.
	void * PoserData;   //Initialized to zero, configured by poser, can be anything the poser wants.
	PoserCB * PoserFn;

	//Device-specific information about the location of the sensors.  This data will be used by the poser.
	int8_t nr_locations;
	FLT * sensor_locations;
	FLT * sensor_normals;

	//Timing sensitive data (mostly for disambiguation)
	int32_t timebase_hz;		//48,000,000 for normal vive hardware.  (checked)
	int32_t timecenter_ticks; 	//200,000 for normal vive hardware.     (checked)
	int32_t pulsedist_max_ticks; //500,000 for normal vive hardware.   (guessed)
	int32_t pulselength_min_sync; //2,200 for normal vive hardware.    (guessed)
	int32_t pulse_in_clear_time; //35,000 for normal vive hardware.    (guessed)
	int32_t pulse_max_for_sweep; //1,800 for normal vive hardware.     (guessed)
	int32_t pulse_synctime_offset; //20,000 for normal vive hardware.  (guessed)
	int32_t pulse_synctime_slack; //5,000 for normal vive hardware.    (guessed)

	//Flood info, for calculating which laser is currently sweeping.
	int8_t   oldcode;
	int8_t   sync_set_number; //0 = master, 1 = slave, -1 = fault. 
	int8_t   did_handle_ootx; //If unset, will send lightcap data for sync pulses next time a sensor is hit.
	uint32_t last_time[NUM_LIGHTHOUSES];
	uint32_t last_length[NUM_LIGHTHOUSES];
	uint32_t recent_sync_time;

	uint32_t last_lighttime;  //May be a 24- or 32- bit number depending on what device.


	//Debug
	int tsl;
};


struct BaseStationData
{
	uint8_t PositionSet:1;

	SurvivePose Pose;

	uint8_t OOTXSet:1;
	uint32_t BaseStationID;
	FLT fcalphase[2];
	FLT fcaltilt[2];
	FLT fcalcurve[2];
	FLT fcalgibpha[2];
	FLT fcalgibmag[2];
};

struct SurviveContext
{
	text_feedback_func faultfunction;
	text_feedback_func notefunction;
	light_process_func lightproc;
	imu_process_func imuproc;
	angle_process_func angleproc;

	//Calibration data:
	BaseStationData bsd[NUM_LIGHTHOUSES];

	SurviveCalData * calptr; //If and only if the calibration subsystem is attached.

	SurviveObject ** objs;
	int objs_ct;

	void ** drivers;
	DeviceDriverCb * driverpolls;
	DeviceDriverCb * drivercloses;
	DeviceDriverMagicCb * drivermagics;
	int driver_ct;
};

SurviveContext * survive_init( int headless );

//For any of these, you may pass in 0 for the function pointer to use default behavior.
void survive_install_info_fn( SurviveContext * ctx,  text_feedback_func fbp );
void survive_install_error_fn( SurviveContext * ctx,  text_feedback_func fbp );
void survive_install_light_fn( SurviveContext * ctx,  light_process_func fbp );
void survive_install_imu_fn( SurviveContext * ctx,  imu_process_func fbp );
void survive_install_angle_fn( SurviveContext * ctx,  angle_process_func fbp );

void survive_close( SurviveContext * ctx );
int survive_poll();

SurviveObject * survive_get_so_by_name( SurviveContext * ctx, const char * name );

//Utilitiy functions.
int survive_simple_inflate( SurviveContext * ctx, const char * input, int inlen, char * output, int outlen );

int survive_send_magic( SurviveContext * ctx, int magic_code, void * data, int datalen );

//Install the calibrator.
void survive_cal_install( SurviveContext * ctx );

//Call these from your callback if overridden.  
//Accept higher-level data.
void survive_default_light_process( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length );
void survive_default_imu_process( SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id );
void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );


////////////////////// Survive Drivers ////////////////////////////

void   RegisterDriver( const char * name, void * data );
void * GetDriver( const char * name );
const char * GetDriverNameMatching( const char * prefix, int place );
void   ListDrivers();

#define REGISTER_LINKTIME( func ) \
	void __attribute__((constructor)) Register##func() { RegisterDriver( #func, &func ); }

int survive_add_object( SurviveContext * ctx, SurviveObject * obj );
void survive_add_driver( SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic );


////////////////////// Lightcap driver data ///////////////////////

//For lightcap, etc.  Don't change this structure at all.  Regular vive is dependent on it being exactly as-is.
//When you write drivers, you can use this to send survive lightcap data.
typedef struct
{
	uint8_t sensor_id;
	uint8_t type;      //Mostly unused.  Set to 255 to ignore it.
	uint16_t length;
	uint32_t timestamp;
} __attribute__((packed))  LightcapElement;

//This is the disambiguator function, for taking light timing and figuring out place-in-sweep for a given photodiode.
void handle_lightcap( SurviveObject * so, LightcapElement * le );

#endif