#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; }
};

}  // namespace fgc