HansonServo/animation.h

#ifndef ANIMATION_FILE_H
#define ANIMATION_FILE_H

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


#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;
  // remapped from -1 to 1 → 0–65535
  uint16_t startPoint;   // start value
  uint16_t startHandle;  // start handle
  uint16_t endPoint;     // end value
  uint16_t endHandle;    // end handle
};




class Animation {
public:
  Animation();

  void setFrame(uint16_t frameIndex, uint16_t channel, uint16_t value);
  uint16_t getFrame(uint16_t frameIndex, uint16_t channel) const;
  bool getFramePositions(uint16_t frameIndex, uint16_t* outPositions);

  void addCurveSegment(const CurveSegment& segment);
  void clearCurves(uint8_t motorID);
  void clearAllCurves();
  uint16_t getMotorPosition(uint8_t motorID, uint16_t timeCS);
  
  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 createSampleSweep(uint8_t seconds);
  void createStaggeredSweep(uint8_t seconds);
  AnimationHeader header;

private:
  uint16_t data[MAX_FRAMES][NUM_CHANNELS];
  std::vector<CurveSegment> curves[NUM_CHANNELS]; // One list per motor channel

};

#endif