/*
 * Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
 * its subsidiaries and affiliates (collectly called MKSEMI).
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form, except as embedded into an MKSEMI
 *    integrated circuit in a product or a software update for such product,
 *    must reproduce the above copyright notice, this list of conditions and
 *    the following disclaimer in the documentation and/or other materials
 *    provided with the distribution.
 *
 * 3. Neither the name of MKSEMI nor the names of its contributors may be used
 *    to endorse or promote products derived from this software without
 *    specific prior written permission.
 *
 * 4. This software, with or without modification, must only be used with a
 *    MKSEMI integrated circuit.
 *
 * 5. Any software provided in binary form under this license must not be
 *    reverse engineered, decompiled, modified and/or disassembled.
 *
 * THIS SOFTWARE IS PROVIDED BY MKSEMI "AS IS" AND ANY EXPRESS OR IMPLIED
 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 * MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL MKSEMI OR CONTRIBUTORS BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
 * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef LIB_KF_H
#define LIB_KF_H
#include "mk_common.h"

enum KF_DATA_TYPE_T
{
    KF_DATA_TYPE_RANGING = 0,
    KF_DATA_TYPE_AZIMUTH = 1,
    KF_DATA_TYPE_ELEVATION = 2,
};

struct KF_MAC_ADDR_T
{
    uint8_t mac_addr[8];
    uint32_t elapsed_time;
    uint8_t data_type;
};

struct MAT_CACHE_T
{
    int row, col;
    float *element;
};

struct KF_MAT_VALUE_CACHE_T
{
    float float_1_2[1 * 1 * 2];
    float float_2_1[4 * 2 * 1];
    float float_2_2[2 * 2 * 2];
};

struct KF_CHANNEL_CACHE_T
{
    struct MAT_CACHE_T mat_cache[7];
    float float_cache[4];
    uint16_t uint16_t_chache[2];
};

/**
 * @addtogroup MK8000_ALGO_KF
 * @{
 */

#ifdef __cplusplus
extern "C" {
#endif

/**
 * @brief Configure location post process Kalman filter.
 *
 * @param[in] update_period_ms      Ranging result update period, unit: ms
 * @param[in] mac_addr_cache        mac address list input
 * @param[in] kf_channel_cache      kf channel state data list input
 * @param[in] mat_value_cache       kf mat data list input
 * @param[in] cache_len             list length(equal to the tag number supported)
 * @param[in] timeout_ms            timeout setting for Kalman filter, unit: millisecond
 */
void loc_post_kf_config(uint32_t update_period_ms,
                        struct KF_MAC_ADDR_T *mac_addr_cache,
                        struct KF_CHANNEL_CACHE_T *kf_channel_cache,
                        struct KF_MAT_VALUE_CACHE_T *mat_value_cache,
                        size_t cache_len,
                        uint32_t timeout_ms);

/**
 * @brief Filter input data.
 * @param[in] data_meas            data measurement result
 * @param[out] data_post           data filtered result
 * @param[in] channel              data type
 */

/**
 * @brief Filter input data.
 *
 * @param[in] data_meas          data measurement result
 * @param[in] data_type          data type
 * @param[in] mac_addr           mac address
 * @param[out] data_post         data filtered result
 * @return uint8_t
 */
uint8_t loc_kf_filter(float data_meas, enum KF_DATA_TYPE_T data_type, uint8_t *mac_addr, float *data_post);

/**
 * @brief Get KF lib version.
 * @return KF lib version
 */
const char *MK8000_get_kflib_version(void);

#ifdef __cplusplus
}
#endif

/**
 * @}
 */

#endif // LIB_KF_H