#ifndef VL53_BOARD_H
#define VL53_BOARD_H

#include <stdint.h>
#include <string.h>
#include "vl53l0x_api.h"
#include "vl53l0x_platform.h"

#ifdef __cplusplus
extern "C" {
#endif

#define VL53_MAX_DEVS_PER_BOARD 4

    typedef struct {
        I2C_HandleTypeDef *hi2c;
        GPIO_TypeDef *xshut_port;
        uint16_t xshut_pin;
        uint8_t runtime_addr_8bit;
        const char *name;
        uint8_t id;
    } Vl53BoardHwCfg_t;

    /* ================= 内部EMA滤波器结构 ================= */
    typedef struct {
        float x;             // 当前滤波值 (滤波后的距离)
        float alpha;         // 平滑系数 (0.0~1.0, 越大响应越快)
        uint8_t initialized; // 防止第一次开机从0缓慢爬升
    } Vl53EMA_t;

    /* ================= 快照数据结构 (对外接口) ================= */
    typedef struct {
        uint32_t tick_ms;
        uint16_t range_mm[VL53_MAX_DEVS_PER_BOARD];          /* 接口1：原始硬件数据 */
        float    range_mm_filtered[VL53_MAX_DEVS_PER_BOARD]; /* 接口2：EMA平滑数据 */
        uint8_t  range_status[VL53_MAX_DEVS_PER_BOARD];
        uint8_t  valid_mask;
    } Vl53BoardSnapshot_t;

    typedef struct {
        VL53L0X_Dev_t dev[VL53_MAX_DEVS_PER_BOARD];
        Vl53EMA_t     ema[VL53_MAX_DEVS_PER_BOARD];  /* 每个传感器配备一个专属EMA滤波器 */
        uint8_t init_mask;
        uint8_t dev_count;
        uint32_t timing_budget_us;
    } Vl53Board_t;

    VL53L0X_Error Vl53Board_Init(Vl53Board_t *board, const Vl53BoardHwCfg_t *hw_cfgs, uint8_t count, uint32_t timing_budget_us);
    VL53L0X_Error Vl53Board_StartContinuous(Vl53Board_t *board);
    VL53L0X_Error Vl53Board_StopContinuous(Vl53Board_t *board);
    VL53L0X_Error Vl53Board_ReadAll(Vl53Board_t *board, Vl53BoardSnapshot_t *snapshot);

#ifdef __cplusplus
}
#endif

#endif /* VL53_BOARD_H */