#ifndef UWBHELPER_H
#define UWBHELPER_H

#include <Arduino.h>
#include <HardwareSerial.h>

struct DeviceData {
    int deviceId;
    float distance;
    float rssi;
    unsigned long lastUpdate;
    bool active;
};

class UWBHelper {
private:
    HardwareSerial* uwbSerial;
    int resetPin;
    
public:
    UWBHelper(HardwareSerial* serial, int reset);
    
    // Initialization
    bool begin();
    void reset();
    
    // Configuration
    bool configureDevice(int deviceId, bool isAnchor, int dataRate = 1, int rangeFilter = 1);
    bool setCapacity(int tagCount, int timeSlot = 10, int extMode = 1);
    bool setNetwork(int networkId);
    bool enableReporting(bool enable);
    bool saveConfiguration();
    bool restartDevice();
    
    // Communication
    String sendCommand(String command, int timeout = 2000);
    bool parseRangeData(String data, DeviceData devices[], int maxDevices);
    
    // Utility
    String getVersion();
    bool isResponseOK(String response);
    void printDiagnostics();
};

// Data filtering class
class DistanceFilter {
private:
    static const int FILTER_SIZE = 5;
    float readings[FILTER_SIZE];
    int index;
    bool filled;
    
public:
    DistanceFilter();
    float addReading(float distance);
    float getFilteredValue();
    void reset();
};

#endif // UWBHELPER_H