#pragma once
#include <HexapodProtocol.h>

// nRF24L01 transmitter. Uses hardware auto-ack to measure the link: the
// robot's radio acks every packet it receives, so an ack = the robot heard us.
class RadioLink {
public:
  bool begin();                         // false if the radio chip didn't respond
  bool send(const CmdPacket& p);        // blocking, returns true if acked
  void update(uint32_t now_ms);         // refreshes linkOk()

  bool present() const { return present_; }
  bool linkOk() const  { return link_ok_; }
  uint8_t qualityPct() const;           // acked share of the last 32 packets

private:
  bool present_ = false;
  bool link_ok_ = false;
  uint32_t last_ack_ms_ = 0;
  bool ever_acked_ = false;
  uint32_t history_ = 0;                // 1 bit per packet, newest in bit 0
};