#pragma once
#include <array>
#include <cstdint>
#include <string>

namespace cms {
struct LazyGateConfig {
    int threshold_percent{15};
    int can_timeout_ms{1000};
    int motion_timeout_ms{300};
};
struct InferenceStatus {
    bool models_ready{};
    bool enabled{true};
    bool can_valid{};
    bool left_front_trigger{},left_rear_trigger{};
    std::array<int,4> positions{{-1,-1,-1,-1}}; // LF, RF, LR, RR; percent
    std::array<int,2> direction{}; // LF, LR: -1 closing, 0 stationary, +1 opening
    std::uint64_t generation{1},sample_monotonic_ns{};
    double can_age_ms{-1};
    std::string reason{"CAN_UNAVAILABLE"};
};
// Pure state machine. Caller serializes access. Time is monotonic nanoseconds.
class LazyGate {
public:
    explicit LazyGate(LazyGateConfig config={});
    void receive(std::uint32_t id,std::uint8_t const* data,std::size_t size,std::uint64_t now);
    InferenceStatus snapshot(std::uint64_t now);
private:
    LazyGateConfig config_;
    bool have_sample_{};
    std::uint64_t last_sample_{};
    std::array<std::uint64_t,2> last_change_{};
    InferenceStatus state_;
};
}