#ifndef __DETECTOR_H
#define __DETECTOR_H

#ifdef __cplusplus
extern "C" {
#endif

/* Header File Including ------------------------------------------------------------------------ */
#include <stdint.h>
#include <stdlib.h>
#include <time.h>
#include "pdr_base.h"
#include "buffer.h"
#include "pdr_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 *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    : pdr_getDetector
* Description : 获取PDR运动分类器的结构体指针
* Date        : 2020/02/16 yuanlin_rjyb@vivo.com & zhanli@vivo.com
*---------------------------------------------------------------------**/
DETECTOR *pdr_getDetector(void);

/**---------------------------------------------------------------------
* Function    : pdr_initDetector
* Description : 初始化运动分类器，识别用户处于哪一种运动模式
* Date        : 2020/02/16 yuanlin_rjyb@vivo.com & zhanli@vivo.com
*---------------------------------------------------------------------**/
DETECTOR* pdr_initDetector(void);

/**---------------------------------------------------------------------
* Function    : pdr_resetDetector
* Description : 重置PDR运动分类器
* Date        : 2020/02/16 yuanlin_rjyb@vivo.com & zhanli@vivo.com
*---------------------------------------------------------------------**/
void pdr_resetDetector(void);

/**---------------------------------------------------------------------
* Function    : pdr_motionTypeDetect
* Description : pdr运动类型检测
* Date        : 2020/7/20 yuanlin_rjyb@vivo.com
*---------------------------------------------------------------------**/
int pdr_motionTypeDetect(void);

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

void mag_calibration(IMU *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]);

void updateDetectorImu(imu* imu);

#ifdef __cplusplus
}
#endif

#endif