#ifndef _juRCReceiver_h_
#define _juRCReceiver_h_

#ifndef myId
#error "myId is not defined"
#endif
#ifndef myChannel
#error "myChannel is not defined"
#endif

#ifndef debug
#define debug false
#endif

#ifndef debugReceive
#define debugReceive false
#endif

// #include <Preferences.h>
#include <SPI.h>
#include <Wire.h>
#include <jmutex.h>
#include <jqueue.h>

#include "fs_helper.h"

//

#include "structsAndDefines.h"

on_connect _j_on_connect = nullptr;
on_disconnect _j_on_disconnect = nullptr;
on_data _j_on_data = nullptr;

void jSetOnConnect(on_connect conn) { _j_on_connect = conn; }
void jSetOnDisconnect(on_disconnect conn) { _j_on_disconnect = conn; }
void jSetOnData(on_data conn) { _j_on_data = conn; }

// 3 (CE)   0  //4 (CSN)  4  //5 (SCK)  18  //6 (MOSI) 23  //7 (MISO) 19
//         CE CSN

unsigned long last = 0;
unsigned long delta = 0;
float avg = 10;

#include "system_general/rc_handler.h"

//

#include "rcserial.h"
#include "system_sensors/compass.h"
#include "system_sensors/gnss.h"
#include "system_sensors/mpu.h"

void jSetup() {
    Serial.begin(115200);
#if debug
    Serial.println("start up");
#endif
    init_little_fs();

    initRC();
#if debug
    Serial.println("inited rc");
#endif
    Wire.begin();
#if debug
    Serial.println("inited wire");
#endif
    initMPU();
#if debug
    Serial.println("inited mpu");
#endif
    initGNSS();
#if debug
    Serial.println("inited gnss");
#endif
    initCOMP();
#if debug
    Serial.println("inited comp");
#endif
    _rc_serial_init();

    last = millis();
}
void jSensorLoop() {
    unsigned long now = micros();
    delta = now - last;
    last = now;
    avg = avg * 0.9 + delta * 0.1;
#if debug
    if ((dcounterxy) % 100 == 0)
        Serial.println("Sensor Loop, avg = " + String(avg));
#endif
    MPULoop();
    GNSSLoop();
    COMPLoop();
}
void jRadioLoop() {
#if debug
    unsigned long now = millis();
    static long unsigned last = 0;
    static long unsigned delta = 0;
    static long unsigned radioLoopCount = 0;
    static float avg = 2.;
    delta = now - last;
    last = now;
    avg = avg * 0.9 + delta * 0.1;
    if ((radioLoopCount++) % 200 == 0)
        Serial.println("Radio Loop, avg = " + String(avg));
#endif
    handleRC();
}

#endif