WebPage.h

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#pragma once
#include <Arduino.h>
#include <WebServer.h>
#include "Motor.h"
#define labelbuflen 256
#define valbuflen (sizeof(float)*3)
typedef struct _JoyData {
    float xpos;
    float ypos;
    float angle;
    float mag;
} JoyData;



typedef struct _telemetryValue {
    String name;
    float value;  // the value
    bool used;    // Slot in use flag
    bool valueDirty;   // Slot has new data flag
    bool labelDirty;
    uint8_t *buffer;
} telemetryValue;

#define numSliders 4
#define numValues 30
#define labelBufferSize 512

class WebPage{
public:
    WebPage();
    void initalize();

    bool updatePID=true;
    float getSliderValue(uint32_t number);
    JoyData *getJoystickData();
    float getJoystickAngle();
    float getJoystickMagnitude();
    float getJoystickX();
        float getJoystickY();
    void setSliderValue(uint32_t number, float value);
    void setJoystickValue(float xpos, float ypos, float angle, float mag);
    void setValue(String name, float data);
    void newButton(String url, void (*handler)(String), String label,
            String description);

    bool SendAllValues();
    bool SendAllLabels();
    float sliders[numSliders];
    telemetryValue values[numValues];
    int numValuesUsed=0;

    void valueChanged(String name, float value);


    JoyData joystick;
    uint32_t txPacketCount = 0;
    uint32_t rxPacketCount = 0;
    TaskHandle_t updateTaskHandle;
    TaskHandle_t packetTaskHandle;
    uint32_t motor_count;
    void sendValueUpdate(uint32_t index,uint8_t *buffer);
    void sendLabelUpdate(uint32_t index,uint8_t *buffer);


    void printToWebConsole(String data);
    void markAllDirty();
    bool dirtyLabels();
    bool dirtyValues();

    bool sendHeartbeat();
    void setHeartbeatUUID(uint32_t uuid);

    void UpdatePIDValues(uint32_t motor,float p, float i, float d);
    void UpdateSetpoint(uint32_t motor, float setpoint);

    bool SendPIDValues(uint32_t motor);
    bool SendSetpoint(uint32_t motor);

    bool sendPacket(unsigned char* packet, uint32_t length);

    SemaphoreHandle_t valuesSem;

    /*
    uint8_t * packetBuffer;
    uint8_t * labelBuffer;
    uint8_t * heartbeatBuffer;
    uint8_t * consoleBuffer;
    uint8_t * pidsetBuffer;
    uint8_t * setpointsetBuffer;
    */
private:
    //int valueToSendThisLoop=0;
    uint32_t _heartbeat_uuid=0;

};