#pragma once
#include "types.hpp"
#include "gpio.hpp"

class Encoder {
public:
    Encoder(int pwm_channel, int dir_gpio, int direction_polarity);
    ~Encoder();

    void   update();
    float  getRPS() const { return _rps; }
    int    getDirection() const;

private:
    int           _channel;
    GPIO          _dir_gpio;
    int           _polarity;      // 1 或 -1
    volatile uint32* _reg_base;
    int            _mem_fd;
    float          _rps;
    uint32         _last_period;
    static constexpr unsigned int REG_OFFSET = 0x0100;
    void           _mmapRegs();
    void           _munmapRegs();
    uint32         _readRegister(unsigned int offset) const;
};