#ifndef NRA15_H
#define NRA15_H

#include <Arduino.h>

// Pin number for UART
#define NRA15_RX_PIN 16  // ESP32 RX <- NRA15 TX (yellow)
#define NRA15_TX_PIN 17  // ESP32 TX -> NRA15 RX (white)

// Max distance for NRA-15 in cm
#define RANGEFINDER_NRA15_MAX_DISTANCE 10000  // 100m = 10000cm

// Uncomment to use HardwareSerial instead of SoftwareSerial
// #define NRA15_USE_HARDWARE_SERIAL

#ifndef NRA15_USE_HARDWARE_SERIAL
    #include <SoftwareSerial.h>
#endif

/**
 * @brief The NRA15 class represents an NRA-15 radar device.
 * 
 * This class provides methods to communicate with NRA-15 radar
 * and send data via MAVLink protocol.
 */
class NRA15 {
public:
    /**
     * @brief Default constructor
     */
    NRA15() {}
    
    /**
     * @brief Destructor
     */
    ~NRA15();
    
    /**
     * @brief Task function for handling NRA-15 data reception.
     * 
     * @param pvParameters Pointer to task parameters (TaskCreator)
     */
    static void NRA15RxTask(void *pvParameters);
    
    /**
     * @brief Variable to store the distance measured (in meters)
     */
    static double distance;

private:
    /**
     * @brief Universal pointer to Serial (works for both Hardware and Software)
     */
    static Stream *serial;
    
#ifndef NRA15_USE_HARDWARE_SERIAL
    /**
     * @brief Pointer to SoftwareSerial object (only when using SoftwareSerial)
     */
    static SoftwareSerial *softSerial;
#endif
};

#endif // NRA15_H