#pragma once

#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
#include <freertos/task.h>

#include "messages.pb.h"
#include "sx127x_driver.h"

namespace ugv {
namespace comms {

namespace messages = uas::ugv::messages;

class CommsClass {
 public:
  CommsClass();

  void Init();

  void Lock(TickType_t ticks_to_wait = pdMS_TO_TICKS(1000));
  void Unlock();

  int32_t ReadRssi();
  uint8_t ReadLnaGain();

 public:
  SemaphoreHandle_t   mutex;
  messages::Location  location;
  messages::UGV_State ugv_state;
  TickType_t          last_packet_tick;
  int32_t             last_packet_rssi;
  int8_t              last_packet_snr;

 private:
  sx127x_hndl  lora;
  TaskHandle_t task_handle;
  uint16_t     packet_num;

  void RunTask();
  void HandlePacket(sx127x_rx_packet_t* packet);
  void HandleCommand(const messages::GroundCommand& command);

  static void CommsTask(void* arg);
};

extern CommsClass Comms;

}  // namespace comms
}  // namespace ugv