#ifndef LINUXCNC_WEB_WASM_SIM_KINEMATICS_FEEDBACK_H
#define LINUXCNC_WEB_WASM_SIM_KINEMATICS_FEEDBACK_H

#include "sim_kinematics.h"

#ifdef __cplusplus
extern "C" {
#endif

enum sim_kinematics_feedback_result {
    SIM_KIN_FEEDBACK_OK = 0,
    SIM_KIN_FEEDBACK_ERR_ARGUMENT = -820,
    SIM_KIN_FEEDBACK_ERR_CONFIGURATION = -821,
    SIM_KIN_FEEDBACK_ERR_NONFINITE = -822,
    SIM_KIN_FEEDBACK_ERR_FORWARD = -823,
    SIM_KIN_FEEDBACK_ERR_STATE = -824,
};

typedef struct sim_kinematics_feedback_state {
    sim_posemath_pose pose;
    uint64_t forward_flags;
    uint64_t inverse_flags;
    double joints[SIM_KIN_MAX_JOINTS];
    uint32_t joint_count;
    uint32_t tick;
    uint32_t valid;
    int last_error;
    int kinematics_error;
} sim_kinematics_feedback_state;

typedef struct sim_kinematics_feedback {
    sim_kinematics *kinematics;
    sim_kinematics_feedback_state state;
} sim_kinematics_feedback;

int sim_kinematics_feedback_init(sim_kinematics_feedback *feedback,
                                 sim_kinematics *kinematics,
                                 uint32_t joint_count);
int sim_kinematics_feedback_reset(sim_kinematics_feedback *feedback);
int sim_kinematics_feedback_update(sim_kinematics_feedback *feedback,
                                   const double *joints, uint32_t joint_count,
                                   uint64_t inverse_flags,
                                   sim_kinematics_result_info *info);
int sim_kinematics_feedback_read(const sim_kinematics_feedback *feedback,
                                 sim_kinematics_feedback_state *state);
uint64_t sim_kinematics_feedback_state_hash(const sim_kinematics_feedback *feedback);

#ifdef __cplusplus
}
#endif

#endif