#ifndef LINUXCNC_WEB_WASM_SIM_MOTION_QUEUE_H
#define LINUXCNC_WEB_WASM_SIM_MOTION_QUEUE_H

#include "sim_posemath.h"

#ifdef __cplusplus
extern "C" {
#endif

enum sim_motion_result {
    SIM_MOTION_OK = 0,
    SIM_MOTION_ERR_ARGUMENT = -600,
    SIM_MOTION_ERR_NONFINITE = -601,
    SIM_MOTION_ERR_RANGE = -602,
    SIM_MOTION_ERR_GEOMETRY = -603,
    SIM_MOTION_ERR_MOTION_TYPE = -604,
    SIM_MOTION_ERR_STATE = -605,
    SIM_MOTION_ERR_CAPACITY = -606,
    SIM_MOTION_ERR_BUFFER = -607,
};

enum sim_motion_profile {
    SIM_MOTION_PROFILE_BLEND = 0,
    SIM_MOTION_PROFILE_EXACT_STOP = 1,
};

#define SIM_MOTION_QUEUE_CAPACITY 64u

typedef struct sim_motion_command {
    sim_posemath_segment segment;
    uint32_t id;
    uint32_t tag;
    uint32_t flags;
} sim_motion_command;

#define SIM_MOTION_COMMAND_FLAG_RAPID 1u

typedef struct sim_motion_state {
    sim_posemath_pose position;
    double velocity;
    double progress;
    uint32_t tick;
    uint32_t queue_depth;
    uint32_t active_id;
    uint32_t active_tag;
    int motion_type;
    int status;
} sim_motion_state;

typedef struct sim_motion_queue {
    sim_motion_command commands[SIM_MOTION_QUEUE_CAPACITY];
    uint32_t head;
    uint32_t count;
    uint32_t next_id;
    uint32_t tick;
    double cycle_time;
    double velocity_limit;
    sim_motion_state state;
} sim_motion_queue;

int sim_motion_init(sim_motion_queue *queue, double cycle_time, double velocity_limit);
uint32_t sim_motion_size(void);
uint32_t sim_motion_command_size(void);
uint32_t sim_motion_state_size(void);
int sim_motion_reset(sim_motion_queue *queue);
int sim_motion_enqueue(sim_motion_queue *queue, const sim_motion_command *command, uint32_t *id_out);
int sim_motion_step(sim_motion_queue *queue);
int sim_motion_set_profile(sim_motion_queue *queue, int profile);
int sim_motion_set_lookahead(sim_motion_queue *queue, uint32_t depth);
int sim_motion_set_dynamics(sim_motion_queue *queue, double acceleration_limit, double jerk_limit);
int sim_motion_set_feed_override(sim_motion_queue *queue, double feed_override);
int sim_motion_set_paused(sim_motion_queue *queue, uint32_t paused);
int sim_motion_peek(const sim_motion_queue *queue, uint32_t offset, sim_motion_command *command);
int sim_motion_read_state(const sim_motion_queue *queue, sim_motion_state *state);
uint32_t sim_motion_queue_depth(const sim_motion_queue *queue);
uint64_t sim_motion_state_hash(const sim_motion_queue *queue);
uint64_t sim_motion_plan_hash(const sim_motion_queue *queue);
uint32_t sim_motion_canonical(const sim_motion_queue *queue, char *output, uint32_t capacity);

#ifdef __cplusplus
}
#endif

#endif