#pragma once

#include <stddef.h>
#include <stdint.h>

#define TRIKKE_WIRE_VERSION             1
#define TRIKKE_WIRE_HEADER_SIZE         36
#define TRIKKE_WIRE_SAMPLE_RECORD_SIZE  20
#define TRIKKE_WIRE_METADATA_SIZE       48
#define TRIKKE_WIRE_MAX_RECORDS         8
#define TRIKKE_WIRE_MAX_PACKET_SIZE     \
    (TRIKKE_WIRE_HEADER_SIZE + \
     TRIKKE_WIRE_SAMPLE_RECORD_SIZE * TRIKKE_WIRE_MAX_RECORDS)

#define TRIKKE_PACKET_TYPE_METADATA 1
#define TRIKKE_PACKET_TYPE_SAMPLES  2

#define TRIKKE_PACKET_FLAG_TIMESTAMP_DELTA_SATURATED 0x01

#define TRIKKE_METADATA_FLAG_ACCEL_Y_NEGX_Z  0x0001
#define TRIKKE_METADATA_FLAG_GYRO_IDENTITY   0x0002
#define TRIKKE_METADATA_FLAG_GYRO_POLARITY   0x0004
#define TRIKKE_METADATA_FLAG_GYRO_SCALE_NOMINAL 0x0008

typedef struct {
    uint32_t sequence;
    int64_t timestamp_us;
    int16_t accel_x;
    int16_t accel_y;
    int16_t accel_z;
    int16_t gyro_x;
    int16_t gyro_y;
    int16_t gyro_z;
    uint8_t accel_status;
    uint8_t gyro_status;
} trikke_wire_sample_t;

typedef struct {
    uint16_t sample_rate_hz;
    uint16_t accel_range_g;
    uint16_t gyro_range_dps;
    uint16_t flags;
    float accel_offset_counts[3];
    float accel_counts_per_g[3];
    float gyro_bias_counts[3];
    float gyro_mdps_per_lsb;
} trikke_wire_metadata_t;

size_t trikke_encode_metadata_packet(
    uint8_t *output,
    size_t output_size,
    uint32_t packet_sequence,
    int64_t timestamp_us,
    uint32_t dropped_sample_count,
    uint32_t loop_overrun_count,
    const trikke_wire_metadata_t *metadata);

size_t trikke_encode_sample_packet(
    uint8_t *output,
    size_t output_size,
    uint32_t packet_sequence,
    uint32_t dropped_sample_count,
    uint32_t loop_overrun_count,
    const trikke_wire_sample_t *samples,
    size_t sample_count);