#ifndef STA_CORE_SPATZ_HPP
#define STA_CORE_SPATZ_HPP

#include <sta/mutex.hpp>
#include <sta/signal.hpp>
#include <sta/event.hpp>

#include <sta/config.hpp>
#ifdef STA_SPATZ_ENABLED

#include <sta/debug/debug.hpp>
#ifndef STA_DEBUGGING_ENABLED
#   error "Cannot use SPATZ without debugging being enabled."
#endif // STA_DEBUGGING_ENABLED

namespace sta
{
    namespace spatz
    {
        /**
         * @brief Initialize SPATZ for in-the-loop testing.
         * 
         * @param mutex A mutex used to make SPATZ thread-safe.
         */
        void init(Mutex * mutex, Event * signal);
        
        /**
         * @brief Notify SPATZ that a new tick has happened.
         */
        void tick();

        /**
         * @brief Request bytes for a specific sensor id via the printable.
         * 
         * @param id The id of the sensor to request data for.
         * @param buffer The byte buffer to write the data to.
         * @param length The number of the bytes to request.
         */
        void request(uint8_t id, uint8_t * buffer, size_t length);

        /**
         * @brief Request floats for a specific sensor id via the printable.
         * 
         * @param id The id of the sensor to request data for.
         * @param buffer The float buffer to write the data to.
         * @param length The number of floats to request.
         */
        bool request(uint8_t id, float * buffer, size_t length);

        /**
         * @brief Request doubles for a specific sensor id via the printable.
         * 
         * @param id The id of the sensor to request data for.
         * @param buffer The double buffer to write the data to.
         * @param length The number of doubles to request.
         */
        void request(uint8_t id, double * buffer, size_t length);

        void notify(uint8_t id);
    } // namespace spatz
} // namespace sta

#define STA_SPATZ_NOTIFY(id)			sta::spatz::notify(id)

#define STA_SPATZ_INIT(mutex, signal)	sta::spatz::init(mutex, signal)

#define STA_SPATZ_TICK()				sta::spatz::tick();

#else

namespace sta
{
    namespace spatz
    {
        void init(Mutex * mutex, Event * signal);
    } // namespace spatz
} // namespace sta

#define STA_SPATZ_NOTIFY(id)			((void)0)

#define STA_SPATZ_INIT(mutex, signal)	((void)0)

#define STA_SPATZ_TICK()				((void)0)

#endif // STA_SPATZ_ENABLED

#endif // STA_CORE_SPATZ_HPP