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#pragma once
#include <iostream>
#include <vector>
#include <ctime>
#include <vector>
#include <iomanip>
#include <sstream>
#include <fstream>
// Deployment angle limits
#define MAX_ANGLE 100
#define MIN_ANGLE 120
// Altimeter initialization count limit
#define COUNT_LIMIT 50
// Constants
#define G_0 9.8066
// Threshold limits
#define BOOST_ACCEL_THRESH 3
#define BOOST_HEIGHT_THRESH 20
#define GLIDE_ACCEL_THRESH 0.5
#define ALTI_DEPL_THRESHOLD 0.5
#define RATE_ALTI_DEPL 1/50
#define FSM_DONE_SURFACE_ALTITUDE 200
#define APOGEE_FSM_CHANGE 3
#define INIT_DEPLOYMENT 0
#define TIME_BO 8
#define TIME_APO 25
#define TIME_END 120
#define PAD_PRESSURE 102250
#define DUTY_MAX 14.5
#define DUTY_MIN 3
#define LAUNCH_DATE "4-15-2023"
#define LOG_FILENAME "DataLog_" LAUNCH_DATE ".txt"
#define LED_GAP_TIME 0.5
#define LED_ONE_PATH "/sys/class/leds/beaglebone:green:usr1"
#define LED_BRIGHTNESS_FILE "brightness"
#define LED_FILENAME LED_ONE_PATH LED_BRIGHTNESS_FILE
#define TEST_MODE false
enum VehicleState {ON_PAD, BOOST, GLIDE, APOGEE, DONE};
extern std::string state_for_log[5];
struct Vehicle {
int status;
std::vector<double> acceleration;
std::vector<double> linear_acceleration;
double apogee_altitude;
double previous_altitude;
double current_altitude;
double filtered_altitude;
double filtered_velocity;
double deployment_angle;
bool imuInitFail;
bool imuReadFail;
bool altiInitFail;
bool altiReadFail;
double ON_PAD_altitude;
bool ON_PAD_fail;
double duty_span;
double dt;
int led_brightness;
time_t start_time;
time_t fail_time; // For failure termination
time_t liftoff_time;
time_t relog_time;
time_t deploy_time; // NOT INITIALIZED YET
time_t loop_time;
time_t led_time;
};
/**
* @brief Convert fin deployment percentage to fin rotation angle
*
* @param percentage Fin deployment percentage
* @return double
*/
double deploy_percentage_to_angle(double percentage);
/**
* @brief Set the decimal precision of the given data, and return it
* as a formatted string with a prefix containing a relevant description of the data.
*
* @param prefix Identifying or clarifying information about the loggef data
* @param data Data to Log
* @param precision The decimal precision value for the data
*
* @return A string with the formatted data.
*/
std::string format_data(std::string prefix, double data, int precision);
/**
* @brief Blink Beaglebone LED 1
*
* @param vehicle Holds settings pertinent to the Beaglebone LED
* @return true Successful Blink
* @return false Unsuccessful Blink
*/
bool led_out(Vehicle *vehicle);
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