// SPDX-License-Identifier: LGPL-3.0-or-later
// ST4-ESP32: Hardware timer pulse guiding (non-blocking)
// Uses esp_timer one-shot with deferred stop via FreeRTOS task

#pragma once

#include <esp_timer.h>
#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
#include <freertos/task.h>
#include "ST4Axis.h"
#include "ST4Tracker.h"

class ST4Pulse {
    // Static instance for timer callback (standard embedded ISR pattern)
    static ST4Pulse* instance_;

    esp_timer_handle_t timer_;
    SemaphoreHandle_t pulseDoneSem_;
    SemaphoreHandle_t mutex_;
    TaskHandle_t pulseTaskHandle_;

    ST4Axis* activeAxis_;
    ST4Tracker* activeTracker_;
    volatile bool active_;
    volatile bool shutdown_;

    static constexpr uint32_t MAX_PULSE_MS = 10000;

    void cancelLocked();
    static void timerCallback(void* arg);
    static void pulseTaskFunc(void* arg);

public:
    ST4Pulse();
    ~ST4Pulse();

    void begin();
    bool pulse(ST4Axis& axis, ST4Tracker& tracker,
               ST4Direction dir, double slewRate, uint32_t ms);
    bool isActive() const;
    void cancel();
};