#include "asibfm700_servocontroller.h"

namespace asibfm700
{

const char* AsibFM700ServoControllerErrorCategory::name() const noexcept
{
    return "ASIBFM700-SERVOCONTROLLER-ERROR-CATEGORY";
}

std::string AsibFM700ServoControllerErrorCategory::message(int ec) const
{
    AsibFM700ServoControllerErrorCode err = static_cast<AsibFM700ServoControllerErrorCode>(ec);

    switch (err) {
        case AsibFM700ServoControllerErrorCode::ERROR_OK:
            return "OK";
        case AsibFM700ServoControllerErrorCode::ERROR_FATAL:
            return "LibSidServo fatal error";
        case AsibFM700ServoControllerErrorCode::ERROR_BADFORMAT:
            return "LibSidServo wrong arguments of function";
        case AsibFM700ServoControllerErrorCode::ERROR_ENCODERDEV:
            return "LibSidServo encoder device error or can't open";
        case AsibFM700ServoControllerErrorCode::ERROR_MOUNTDEV:
            return "LibSidServo mount device error or can't open";
        case AsibFM700ServoControllerErrorCode::ERROR_FAILED:
            return "LibSidServo failed to run command";
        case AsibFM700ServoControllerErrorCode::ERROR_NULLPTR:
            return "nullptr argument";
        case AsibFM700ServoControllerErrorCode::ERROR_POLLING_TIMEOUT:
            return "polling timeout";

        default:
            return "UNKNOWN";
    }
}


const AsibFM700ServoControllerErrorCategory& AsibFM700ServoControllerErrorCategory::get()
{
    static const AsibFM700ServoControllerErrorCategory constInst;
    return constInst;
}



AsibFM700ServoController::AsibFM700ServoController() : _hardwareConfig(), _setStateMutex(new std::mutex) {}

AsibFM700ServoController::AsibFM700ServoController(hardware_config_t config) : AsibFM700ServoController()
{
    _hardwareConfig = std::move(config);

    _hardwareConfig.devConfig.MountDevPath = const_cast<char*>(_hardwareConfig.MountDevPath.c_str());
    _hardwareConfig.devConfig.EncoderDevPath = const_cast<char*>(_hardwareConfig.EncoderDevPath.c_str());
    _hardwareConfig.devConfig.EncoderXDevPath = const_cast<char*>(_hardwareConfig.EncoderXDevPath.c_str());
    _hardwareConfig.devConfig.EncoderYDevPath = const_cast<char*>(_hardwareConfig.EncoderYDevPath.c_str());
}


AsibFM700ServoController::~AsibFM700ServoController() {}


constexpr std::string_view AsibFM700ServoController::hardwareName() const
{
    return "Sidereal-ServoControllerII";
}

AsibFM700ServoController::error_t AsibFM700ServoController::hardwareStop()
{
    error_t err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.stop());
    if (err) {
        return err;
    }

    hardware_state_t hw_state;

    auto start_tp = std::chrono::steady_clock::now();

    // poll hardware till stopped-state detected ...
    while (true) {
        err = hardwareGetState(&hw_state);
        if (err) {
            return err;
        }

        if (hw_state.moving_state == hardware_moving_state_t::HW_MOVE_STOPPED) {
            break;
        }

        if ((std::chrono::steady_clock::now() - start_tp) > _hardwareConfig.pollingTimeout) {
            err = AsibFM700ServoControllerErrorCode::ERROR_POLLING_TIMEOUT;
            break;
        }

        std::this_thread::sleep_for(_hardwareConfig.pollingInterval);
    }

    return err;
}

AsibFM700ServoController::error_t AsibFM700ServoController::hardwareInit()
{
    return static_cast<AsibFM700ServoControllerErrorCode>(Mount.init(&_hardwareConfig.devConfig));
}


AsibFM700ServoController::error_t AsibFM700ServoController::hardwareSetState(hardware_state_t state)
{
    std::lock_guard lock{*_setStateMutex};

    // static thread_local coordval_pair_t cvalpair{.X{0.0, 0.0}, .Y{0.0, 0.0}};
    // static thread_local coordpair_t cpair{.X = 0.0, .Y = 0.0};

    // cvalpair.X = {.val = state.Y, .t = tp};
    // cvalpair.Y = {.val = state.X, .t = tp};

    // cpair.X = state.tagY;
    // cpair.Y = state.tagX;

    // time point from sidservo library is 'double' number represented UNIXTIME with
    // microseconds/nanoseconds precision
    // double tp = std::chrono::duration<double>(state.time_point.time_since_epoch()).count();


    // 2025-12-04: coordval_pair_t.X.t is now of type struct timespec
    auto ns = std::chrono::duration_cast<std::chrono::nanoseconds>(state.time_point.time_since_epoch());
    auto secs = std::chrono::floor<std::chrono::seconds>(ns);
    ns -= secs;
    std::timespec tp{.tv_sec = secs.count(), .tv_nsec = ns.count()};

    // according to"SiTech protocol notes" X is DEC-axis and Y is HA-axis
    coordval_pair_t cvalpair{.X{.val = state.Y, .t = tp}, .Y{.val = state.X, .t = tp}};
    // coordpair_t cpair{.X = state.endptY, .Y = state.endptX};


    // correctTo is asynchronous function!!!
    //
    // according to the Eddy's implementation of the LibSidServo library it is safe
    // to pass the addresses of 'cvalpair' and 'cpair' automatic variables
    // auto err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.correctTo(&cvalpair, &cpair));
    auto err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.correctTo(&cvalpair));

    return err;
}

AsibFM700ServoController::error_t AsibFM700ServoController::hardwareGetState(hardware_state_t* state)
{
    if (state == nullptr) {
        return AsibFM700ServoControllerErrorCode::ERROR_NULLPTR;
    }

    using tp_t = decltype(hardware_state_t::time_point);

    mountdata_t mdata;

    error_t err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.getMountData(&mdata));
    if (!err) {
        // time point from sidservo library is 'double' number represented UNIXTIME with
        // microseconds/nanoseconds precision (must be equal for encXposition and encYposition)

        // using secs_t = std::chrono::duration<double>;

        // secs_t secs = secs_t{mdata.encXposition.t};
        // state->time_point = tp_t{std::chrono::duration_cast<tp_t::duration>(secs)};

        // 2025-12-04: coordval_pair_t.X.t is now of type struct timespec
        auto dr = std::chrono::duration_cast<decltype(state->time_point)::duration>(
            std::chrono::seconds(mdata.encXposition.t.tv_sec) + std::chrono::nanoseconds(mdata.encXposition.t.tv_nsec));
        state->time_point = decltype(state->time_point){dr};


        // if (mcc::utils::isEqual(secs.count(), 0.0)) {  // model mode?
        //     state->time_point = decltype(state->time_point)::clock::now();
        // } else {
        //     state->time_point = tp_t{std::chrono::duration_cast<tp_t::duration>(secs)};
        // }
        // WARNING: TEMPORARY (WAIT FOR Eddy fix its implementation of LibSidServo)!!!
        //        state->time_point = decltype(state->time_point)::clock::now();

        // according to "SiTech protocol notes" X is DEC-axis and Y is HA-axis
        state->X = mdata.encYposition.val;
        state->Y = mdata.encXposition.val;

        state->speedX = mdata.encYspeed.val;
        state->speedY = mdata.encXspeed.val;

        state->stateX = mdata.Ystate;
        state->stateY = mdata.Xstate;

        if (mdata.Xstate == AXIS_ERROR || mdata.Ystate == AXIS_ERROR) {
            state->moving_state = hardware_moving_state_t::HW_MOVE_ERROR;
        } else {
            if (mdata.Xstate == AXIS_STOPPED) {
                if (mdata.Ystate == AXIS_STOPPED) {
                    state->moving_state = hardware_moving_state_t::HW_MOVE_STOPPED;
                } else if (mdata.Ystate == AXIS_SLEWING) {
                    state->moving_state = hardware_moving_state_t::HW_MOVE_SLEWING;
                } else if (mdata.Ystate == AXIS_POINTING) {
                    state->moving_state = hardware_moving_state_t::HW_MOVE_ADJUSTING;
                } else if (mdata.Ystate == AXIS_GUIDING) {
                    state->moving_state = hardware_moving_state_t::HW_MOVE_GUIDING;
                } else {
                    state->moving_state = hardware_moving_state_t::HW_MOVE_UNKNOWN;
                }
            } else if (mdata.Xstate == AXIS_SLEWING) {
                state->moving_state = hardware_moving_state_t::HW_MOVE_SLEWING;
            } else if (mdata.Xstate == AXIS_POINTING) {
                state->moving_state = hardware_moving_state_t::HW_MOVE_ADJUSTING;
            } else if (mdata.Xstate == AXIS_GUIDING) {
                state->moving_state = hardware_moving_state_t::HW_MOVE_GUIDING;
            } else {
                state->moving_state = hardware_moving_state_t::HW_MOVE_UNKNOWN;
            }
        }
    }

    return err;
}


void AsibFM700ServoController::hardwareUpdateConfig(conf_t cfg)
{
    _hardwareConfig.devConfig = std::move(cfg);

    _hardwareConfig.devConfig.MountDevPath = const_cast<char*>(_hardwareConfig.MountDevPath.c_str());
    _hardwareConfig.devConfig.EncoderDevPath = const_cast<char*>(_hardwareConfig.EncoderDevPath.c_str());
    _hardwareConfig.devConfig.EncoderXDevPath = const_cast<char*>(_hardwareConfig.EncoderXDevPath.c_str());
    _hardwareConfig.devConfig.EncoderYDevPath = const_cast<char*>(_hardwareConfig.EncoderYDevPath.c_str());
}


AsibFM700ServoController::error_t AsibFM700ServoController::hardwareUpdateConfig(hardware_configuration_t cfg)
{
    _hardwareConfig.hwConfig = std::move(cfg);
    return static_cast<AsibFM700ServoControllerErrorCode>(Mount.saveHWconfig(&_hardwareConfig.hwConfig));
}


AsibFM700ServoController::error_t AsibFM700ServoController::hardwareUpdateConfig()
{
    return static_cast<AsibFM700ServoControllerErrorCode>(Mount.getHWconfig(&_hardwareConfig.hwConfig));
}


AsibFM700ServoController::hardware_config_t AsibFM700ServoController::getHardwareConfig() const
{
    return _hardwareConfig;
}

}  // namespace asibfm700