#ifndef STA_CORE_SPATZ_HPP
#define STA_CORE_SPATZ_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

#include <sta/mutex.hpp>

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);
        
        /**
         * @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.
         */
        void 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);
    } // namespace spatz
} // namespace sta

#endif // STA_SPATZ_ENABLED

#endif // STA_CORE_SPATZ_HPP