#pragma once

#include "AtomicPosition.hpp"
#include "DirectPinRead.hpp"
#include "NumInterrupts.hpp"
#include <AH/Containers/Array.hpp>
#include <AH/Hardware/Arduino-Hardware-Types.hpp>

BEGIN_CS_NAMESPACE

#define CS_ENCODER_ISR_ATTR
#define CS_ENCODER_ARGLIST_SIZE CORE_NUM_INTERRUPT

class AHEncoder {
  public:
    AHEncoder(uint8_t pinA, uint8_t pinB);
    AHEncoder(const AHEncoder &) = delete;
    AHEncoder &operator=(const AHEncoder &) = delete;
    AHEncoder(AHEncoder &&other);
    AHEncoder &operator=(AHEncoder &&other);
    ~AHEncoder();

    void begin();
    void end();

    int32_t read();
    int32_t readAndReset(int32_t newpos = 0);
    void write(int32_t p);

  private:
    AH::Array<uint8_t, 2> pins;
    uint8_t interrupts_in_use = 0;
    uint8_t state = 0;
    AH::Array<DirectPinRead, 2> direct_pins;
    AtomicPosition<int32_t> position {0};

    void update();
    void attachInterruptCtx(uint8_t pin);
    void detachInterruptCtx(uint8_t pin);

    static AHEncoder *instance_table[CS_ENCODER_ARGLIST_SIZE];
    friend void swap(AHEncoder &a, AHEncoder &b);
    friend void encoder_gpio_callback(unsigned int, uint32_t);
};

END_CS_NAMESPACE

#include "AHEncoder.ipp"