HansonServo/animation.h

#pragma once

#include <Arduino.h>
#include "FS.h"
#include "FFat.h"
#include <unordered_map>
#include <vector>
#include "nodegraph.h"



#define NUM_CHANNELS 5
#define FRAMES_PER_SECOND 50
#define MAX_DURATION_SECONDS 10
#define MAX_FRAMES (FRAMES_PER_SECOND * MAX_DURATION_SECONDS)

struct AnimationHeader {
  char magic[4];        // 0–3 ANIM tag
  uint16_t frameCount;  // 4–5 Number of total frames
  uint8_t version;      // 6
  uint8_t frameRate;    // 7   Frames per second
  uint8_t reserved[8];  // 8–15
};

struct __attribute__((packed)) CurveSegment {
  uint8_t motorID;
  uint16_t startTime;// centiseconds (0.01s) MAX 655.35 seconds
  uint16_t endTime;// centiseconds (0.01s) MAX 655.35 seconds
  // remapped from -1 to 1 → 0–65535
  int16_t startPointY;
  uint16_t startHandleX;
  int16_t startHandleY;
  uint16_t endHandleX;
  int16_t endHandleY;
  int16_t endPointY;
};

// Version 2 frame data: motor ID + position pair
struct __attribute__((packed)) MotorPosition {
  uint8_t motorID;
  uint16_t position;  // 0-4095
};




class Animation {
public:
  Animation();
  bool isActive() const { return active; }
  void setActive(bool state);


  void setFrame(uint16_t frameIndex, uint16_t channel, uint16_t value);
  uint16_t getFrame(uint16_t frameIndex, uint16_t channel) const;

  void addCurveSegment(const CurveSegment& segment);
  void clearCurves(uint8_t motorID);
  void clearAllCurves();
  String printCurves();
  String printAnim();
  uint16_t getMotorPosition(uint8_t motorID, uint16_t timeCS);
  
  // Version 2 frame data methods
  void setFrameData(uint16_t frameIndex, const std::vector<MotorPosition>& motors);
  const std::vector<MotorPosition>* getFrameData(uint16_t frameIndex) const;
  void clearFrameData();
  
  void clear();
  //uint16_t* getRawData();  // Optional: for bulk access
  //size_t getSize() const;
  bool saveToFile(const char* filename);
  bool loadFromFile(const char* filename);
  uint16_t getFrameCount() const;
  void setFrameCount(uint16_t count);
  void createBasicSCurve();
  void createEaseOutCurve();
  AnimationHeader header;
  NodeGraph nodeGraph;


private:
  //uint16_t data[MAX_FRAMES][NUM_CHANNELS];
  std::unordered_map<uint8_t, std::vector<CurveSegment>> curves;  // Version 1: curves
  std::vector<std::vector<MotorPosition>> frameData;  // Version 2: raw frame data
  bool active = false;
};