#ifndef LatchingRelay_h
#define LatchingRelay_h

#ifndef Arduino_H
#include <Arduino.h>
#endif

class LatchingRelay {
    private:
        String name = "Latching Relay";

        unsigned int setpin;
        unsigned int setpin_readback;
        bool setpin_desired_state = false;  // What we are telling the pin to be (HIGH vs LOW)
        bool setpin_actual_state;  // The current state of the setpin as per the readback
        bool setpin_working;

        unsigned int resetpin;
        unsigned int resetpin_readback;
        bool resetpin_desired_state = false;  // What we are telling the pin to be (HIGH vs LOW)
        bool resetpin_actual_state;  // The current state of the resetpin
        bool resetpin_working;

        unsigned int voltage_read_pin;

        const unsigned long extra_pin_duration = 100;  // The time in ms that the coil should stay on AFTER seeing a voltage change
        unsigned long setpin_turned_on_time;  // The millis() that the setpin was turned on
        unsigned long resetpin_turned_on_time;  // The millis() that the resetpin was turned on
        
        bool desired_state = false;  // The desired state of the relay, set by the control program
        bool expected_state;  // The expected state of the relay based off of digital setpin and resetpin readbacks
        bool actual_state;  // Whether or not there actually is a voltage across the relay or not
        bool relay_working;
        bool startup = true;  // This is used so that the object knows whether or not to use the normal or startup function to control

        const unsigned long relay_delay = 500;  // The max time in ms that we would expect the Arduino to see a voltage change across the relay after turning on the pin
        unsigned long relay_turned_on_time;  // The millis() that the relay was turned on. Useful for knowing if it is operating correctly
        unsigned long relay_turned_off_time ;  // The millis() that the relay was turned off. Useful for knowing if it is operating correctly
        unsigned long relay_first_voltage_time;  // The millis() that we first saw a voltage across the relay after trying to turn it on
        unsigned long relay_first_no_voltage_time;  // The millis() that we first saw no voltage across the relay after trying to turn it off

        const unsigned int num_voltage_reads = 3;  // How many times we should read the relay voltage and average

        float read_relay_voltage();  // Get a single voltag reading across the relay
        void update_actual_state();  // Average a few voltage readings and determine if the relay has ~12V across it

        void update_if_pins_working();  // Perform a check to see if the pins are working based on readbacks
        void update_if_relay_working();  // Check if the relay is working based on expected vs actual state

        void turn_off_pins_after_duration();  // Turn the pins off after the appropriate time

        void turn_on_relay(); 
        void turn_off_relay();

        void turn_on_relay_startup();  // Turns on relay as well as setting values that may have been uninitialized
        void turn_off_relay_startup();  // Turns off relay as well as setting values that may have been uninitialized

        void turn_on_relay_from_fail();  // Only called when the expected state != actual state due to some unkown failure (vibration, transistor for some reason turning on, etc)
        void turn_off_relay_from_fail();  // Only called when the expected state != actual state due to some unkown failure (vibration, transistor for some reason turning on, etc)

    public:
        LatchingRelay(String name, unsigned int setpin, unsigned int setpin_readback, unsigned int resetpin, unsigned int resetpin_readback, unsigned int voltage_read_pin);
        LatchingRelay(unsigned int setpin, unsigned int setpin_readback, unsigned int resetpin, unsigned int resetpin_readback, unsigned int voltage_read_pin);

        bool get_setpin_working() const {return setpin_working;}
        bool get_resetpin_working() const {return resetpin_working;}

        bool get_desired_state() const {return desired_state;}
        bool get_expected_state() const {return expected_state;}
        bool get_actual_state() const {return actual_state;}
        bool get_relay_working() const {return relay_working;}

        void set_desired_state(unsigned char new_desired_state);  // Set the desired state of the relay

        void control_relay();  // Controls the relay including pins to get relay to desired state, checking if pins need to be turned off, and error detection
};
#endif