// =============================================================================
//  nmea2000_consumer.h -- NMEA 2000 backbone consumer
// =============================================================================
//
//  Sprint 1 subscribes to PGN 127250 (Vessel Heading) and PGN 127251
//  (Rate of Turn) from the boat's NMEA 2000 backbone. The latest values
//  are stashed in a thread-safe snapshot that the Modbus slave (and later
//  the PID outer loop) read from.
//
//  Later sprints will also subscribe to PGN 129025/129029 (Position),
//  129026 (COG/SOG), 129284 (Navigation Data), 127257 (Attitude).
//
//  This module owns the NMEA2000 instance and its dedicated FreeRTOS task
//  pinned to Core 0.
// =============================================================================

#pragma once

#include <cstdint>

namespace arautopilot::protocols::nmea2000 {

struct HeadingSnapshot {
    float heading_deg;        ///< 0..360, magnetic or true depending on source
    bool is_true;             ///< true if reference is "true north", false if magnetic
    float rate_of_turn_dps;   ///< signed deg/s; positive = turning to starboard
    uint32_t heading_age_ms;  ///< millis() at the last 127250 update
    uint32_t rot_age_ms;      ///< millis() at the last 127251 update
    bool heading_valid;       ///< true if the heading is fresh (<5 s old)
    bool rot_valid;           ///< true if the ROT is fresh (<5 s old)
};

/// Initialise the NMEA2000 stack with our PGN handlers.
void nmea2000_consumer_init();

/// Spawn the FreeRTOS task that pumps NMEA2000.ParseMessages() forever.
void nmea2000_consumer_start_task();

/// Thread-safe read of the latest heading + ROT snapshot.
HeadingSnapshot nmea2000_latest();

/// True if either heading_age_ms or rot_age_ms exceeds the stale-threshold
/// (default 5 s, brief section 7).
bool nmea2000_is_stale();

}  // namespace arautopilot::protocols::nmea2000