#pragma once

#include "fgc/MtiProtocol.h"  // ImuSample

#include <optional>

namespace fgc {

// Abstraction over the orientation/inertial sensor (Xsens MTi). Implemented by
// MtiImuSource (RS-232/UART binary stream) and MockImuSource (synthetic). Runs
// on its own thread; start() must not block the control loop.
class IImuSource {
public:
    virtual ~IImuSource() = default;

    virtual void start() = 0;
    virtual void stop()  = 0;

    // Whether a valid, recent reading is available.
    virtual bool connected() const = 0;

    // Latest reading, or nullopt if none/stale.
    virtual std::optional<ImuSample> sample() = 0;

    // Device configuration read back during start-up (output mode/settings,
    // sample rate, identity, XKF scenario). nullopt if not yet known or the
    // backend cannot report it.
    virtual std::optional<ImuDeviceConfig> config() const { return std::nullopt; }

    // Re-read the device configuration (e.g. after the XKF profile was changed
    // externally). May briefly pause the measurement stream. Blocking; after it
    // returns config() reflects the device's current settings.
    virtual void refreshConfig() {}

    // Run the "no rotation" gyro-bias update for `seconds`: the device must be
    // held perfectly still while it estimates and cancels gyro bias, which cuts
    // heading drift (important in no-magnetometer use). Non-blocking: it sends the
    // command; the caller is responsible for keeping the unit still that long.
    virtual void noRotation(int seconds) { (void)seconds; }

    // Redefine the *current* heading as yaw = 0 (bore-sighting / heading reset).
    // Subsequent yaw is measured relative to this pose. Non-blocking.
    virtual void headingReset() {}

    // Select the XKF profile/scenario by its `type` number (from config()'s
    // available_profiles). Applied in the device's Config state, so it persists to
    // non-volatile memory. Briefly pauses the stream; blocking. Returns true if the
    // device reports the new profile afterwards. Default: not supported.
    virtual bool setFilterProfile(int type) { (void)type; return false; }
};

}  // namespace fgc
