#ifndef __DETECTOR_H
#define __DETECTOR_H

#ifdef __cplusplus
extern "C" {
#endif

/* Header File Including ------------------------------------------------------------------------ */
#include <stdint.h>
#include <stdlib.h>
#include <time.h>
#include "PDRBase.h"
#include "buffer.h"
#include "AHRS.h"

/* Macro Declaration ---------------------------------------------------------------------------- */
#define DETECTOR_NO_ERROR           0
#define DETECTOR_OUT_OF_MEMORY      1

#define MAG_BUF_LEN                 256
#define MAG_LEN                     6

/* Struct Declaration --------------------------------------------------------------------------- */


typedef void (*DETECTOR_update_callback)(Detector_t *detector);

/* Global Variable Declaration ------------------------------------------------------------------ */
extern BUFFER_SHORT g_acc_frq_buf[3];
extern BUFFER_SHORT g_acc_amp_buf[3];
extern BUFFER_SHORT g_gyr_frq_buf[3];
extern BUFFER_SHORT g_gyr_amp_buf[3];

/* Function Declaration ------------------------------------------------------------------------- */

/**---------------------------------------------------------------------
* Function    : GetDetectorObj
* Description : 获取PDR运动分类器对象
* Date        : 2020/02/16 logzhan
*---------------------------------------------------------------------**/
Detector_t *GetDetectorObj(void);

/**---------------------------------------------------------------------
* Function    : Detector_Init
* Description : 初始化运动分类器，识别用户处于哪一种运动模式
* Date        : 2022/09/23 logzhan 
*---------------------------------------------------------------------**/
Detector_t* Detector_Init(void);

/**---------------------------------------------------------------------
* Function    : DetectorReset
* Description : 重置PDR运动分类器
* Date        : 2022/09/23 logzhan
*---------------------------------------------------------------------**/
void DetectorReset(void);

/**---------------------------------------------------------------------
* Function    : DetectMotionType
* Description : pdr运动类型检测
* Date        : 2020/7/20 
*---------------------------------------------------------------------**/
int DetectMotionType(void);

/**---------------------------------------------------------------------
* Function    : predict
* Description : 判断手机携带方式（静止、手持、摆手等）
* Date        : 2020/7/20 logzhan
*---------------------------------------------------------------------**/
int pdr_detectorPredict(float* feature);

void mag_calibration(IMU_t*imu);
void mag_m_trans(float a[MAG_BUF_LEN][3], float r[3][MAG_BUF_LEN]);
void mag_min(float a[MAG_BUF_LEN], float *mag_min);
void mag_max(float a[MAG_BUF_LEN], float *mag_max);
void mag_rand(float r[6]);

/**---------------------------------------------------------------------
* Function    : DetectorUpdateIMU
* Description : 更新运动类型检测器的imu信息，如果到达一定的时间间隔，则会检测
*               用户的运动类型
* Date        : 2022/09/23
*---------------------------------------------------------------------**/
void DetectorUpdateIMU(IMU_t* imu);

#ifdef __cplusplus
}
#endif

#endif