#pragma once

#include "cpdecoder.hh"
#include <cstdint>
#include <optional>
#include <vector>

namespace ffmsep::tactile {
inline constexpr std::uint8_t kStartByteFirst = 0xAA;
inline constexpr std::uint8_t kStartByteSecond = 0x55;
inline constexpr std::uint8_t kPiezoresistiveBStartByteFirst = 0xF0;
inline constexpr std::uint8_t kPiezoresistiveBStartByteSecond = 0xF1;
inline constexpr std::uint8_t kPiezoresistiveBEndByteFirst = 0xF1;
inline constexpr std::uint8_t kPiezoresistiveBEndByteSecond = 0xF0;
inline constexpr std::size_t kPiezoresistiveBValueCount = 200;

enum class FunctionCode : std::uint8_t {
  Unknown = 0x00,
  ReadMatrix = 0x01,
  ReadSingle = 0x02,
  ReadTemperature = 0x03,
  SetDeviceId = 0x51,
  SetMatrixSize = 0x52,
  CalibrationMode = 0x53,
};

struct MatrixSize {
  std::uint8_t long_edge = 0;
  std::uint8_t short_edge = 0;
};

struct TactileFrame {
  std::uint8_t device_address = 0;
  std::uint8_t reserved = 0;
  std::uint8_t response_function = 0;
  FunctionCode function = FunctionCode::Unknown;
  std::uint32_t start_address = 0;
  std::uint16_t return_byte_count = 0;
  std::uint8_t status = 0;
  std::vector<std::uint8_t> payload;
};

std::optional<TactileFrame> parse_frame(const CPFrame &frame);
std::vector<std::uint16_t> parse_pressure_values(const TactileFrame &frame);
std::optional<MatrixSize> parse_matrix_size_payload(const TactileFrame &frame);
std::optional<MatrixSize>
parse_patrix_coordinate_payload(const TactileFrame &frame);
std::vector<std::uint16_t> parse_piezoresistive_b_pressures(const CPFrame &frame);
std::vector<std::uint8_t> extract_piezoresistive_b_payload(const CPFrame &frame);
// 配置触觉 A 类型预期的 payload 字节数（点数 * 2），用于限制解码 FIFO。
void set_tactile_expected_payload_bytes(std::size_t bytes);

const CPCodec *tactile_codec();
void register_tactile_codec();
const CPCodec *tactile_b_codec();
void register_tactile_b_codec();
} // namespace ffmsep::tactile