#ifndef LINUXCNC_WEB_WASM_SIM_SCHEDULER_H
#define LINUXCNC_WEB_WASM_SIM_SCHEDULER_H

#include <stdint.h>

#ifdef __cplusplus
extern "C" {
#endif

#define SIM_SCHEDULER_SCHEMA_VERSION 1U
#define SIM_SCHEDULER_PHASE_COUNT 8U
#define SIM_SCHEDULER_DEFAULT_BUDGET 1000000U
#define SIM_SCHEDULER_CANONICAL_CAPACITY 512U

enum sim_scheduler_result {
    SIM_SCHEDULER_OK = 0,
    SIM_SCHEDULER_ERR_ARGUMENT = -1100,
    SIM_SCHEDULER_ERR_RANGE = -1101,
    SIM_SCHEDULER_ERR_BUDGET = -1102,
    SIM_SCHEDULER_ERR_OVERFLOW = -1103,
    SIM_SCHEDULER_ERR_BUFFER = -1104,
};

enum sim_scheduler_phase {
    SIM_SCHEDULER_RECONCILE = 0,
    SIM_SCHEDULER_TASK = 1,
    SIM_SCHEDULER_TP = 2,
    SIM_SCHEDULER_KINEMATICS = 3,
    SIM_SCHEDULER_MOTION = 4,
    SIM_SCHEDULER_HAL_IO = 5,
    SIM_SCHEDULER_CALLBACKS = 6,
    SIM_SCHEDULER_PUBLISH = 7,
};

typedef struct sim_scheduler {
    uint32_t tick;
    uint32_t budget;
    uint32_t last_cycles;
    uint32_t phase_trace[SIM_SCHEDULER_PHASE_COUNT];
} sim_scheduler;

uint32_t sim_scheduler_size(void);
int32_t sim_scheduler_init(sim_scheduler *scheduler, uint32_t budget);
int32_t sim_scheduler_reset(sim_scheduler *scheduler);
int32_t sim_scheduler_step(sim_scheduler *scheduler, uint32_t cycles);
int32_t sim_scheduler_restore(sim_scheduler *scheduler, uint32_t tick, uint32_t budget,
                              uint32_t last_cycles, const uint32_t *phase_trace,
                              uint32_t phase_count);
int32_t sim_scheduler_read(const sim_scheduler *scheduler, sim_scheduler *out);
uint32_t sim_scheduler_tick(const sim_scheduler *scheduler);
uint64_t sim_scheduler_state_hash(const sim_scheduler *scheduler);
uint32_t sim_scheduler_canonical(const sim_scheduler *scheduler, char *output, uint32_t capacity);

#ifdef __cplusplus
}
#endif

#endif