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/**
 * This class is providing methods to feed the ECL EKF with measurement.
 * It takes a pointer to the Ekf object and will manipulate the object
 * by call set*Data functions.
 * It simulates the time to allow for sensor data being set at certain rate
 * and also calls the update method of the EKF
 * @author Kamil Ritz <ka.ritz@hotmail.com>
 */

#pragma once

#include "Imu.h"
#include "Mag.h"
#include "Baro.h"
#include "Gps.h"
#include "EKF/ekf.h"


class SensorSimulator
{
public:
	SensorSimulator(Ekf* ekf);
	~SensorSimulator();

	void setImuRate(uint32_t rate){ _imu.setRate(rate); }
	void setMagRate(uint32_t rate){ _mag.setRate(rate); }
	void setBaroRate(uint32_t rate){ _baro.setRate(rate); }
	void setGpsRate(uint32_t rate){ _gps.setRate(rate); }

	void run(uint32_t duration);

	void startGps(){ _gps.start(); }
	void stopGps(){ _gps.stop(); }

	void setImuBias(Vector3f accel_bias, Vector3f gyro_bias);

private:
	Ekf* _ekf;

	Imu _imu;
	Mag _mag;
	Baro _baro;
	Gps _gps;

	uint32_t _time {0};	// in microseconds

	gps_message getDefaultGpsData();

};