mouse_runner_state.h

#pragma once

#include <stddef.h>
#include <stdint.h>

#include "randomizing_functions_state.h"
#include "probe.h"
#include "warningTone.h"
#include "motor.h"


class MouseRunner
{
    public:

        //uint32_t globalStartTime; 
        
        struct StageParameters
        {
            // How long we'll run the mouse for in this stage.
            uint32_t duration;

            // How fast the motor will run during this stage.
            float speed;

            // The difference between the current stage's speed and the speed of the next stage.
            float speed_difference;

            // The accel for the current stage (the speed change at the beginning of the stage).
            float accel; 

            // A marker for if this stage is a probe trial & what kind.
            enum Probe probe; 
        };

        int stageTotal; 

    private:
        enum class State
        {
            // We're waiting for the initial starting signal
            Waiting,

            // We're running the mouse
            Running,

            // We're done running the mouse
            Done,

        };

        enum State state = State::Waiting;

        // Our stages
        const struct StageParameters *stageParameters;

        // When we started our last stage
        uint32_t timeStageStarted;

        // The stage we're currently handling
        int currentStage = 0;

        // Our motor
        Motor &motor;

        // Our warning tone object;
        WarningTone &warningTone; 

       // Create flag for when the code first reaches the "Done" stage. Initialize as false.
       bool everFinished = false; 

    private:
        /**
         * \brief Gets the time since a start time
         *
         * \param startTime
         *      The start time
         *
         * \return uint32_t
         *      The time since
         */
        static inline uint32_t TimeElapsed(uint32_t startTime)
        {
            return (uint32_t)millis() - startTime;
        }

        void StartNextStage(void);
        
    public:
        MouseRunner(const struct StageParameters *stageParameters, Motor &motor, WarningTone &warningTone);
  
        void Start(void);
        void Stop(void);
        void RunOnce(void);
        void StartNewTrial(void);
};