/*
 * This file is part of the libsidservo project.
 * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

// move telescope to given MOTOR position in degrees

#include <signal.h>
#include <stdio.h>
#include <time.h>
#include <usefull_macros.h>

#include "dump.h"
#include "sidservo.h"
#include "simpleconv.h"

typedef struct{
    int help;
    int Ncycles;
    double X;
    double Y;
} parameters;

static parameters G = {
    .Ncycles = 40,
    .X = NAN,
    .Y = NAN,
};

static sl_option_t cmdlnopts[] = {
    {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
    {"ncycles",     NEED_ARG,   NULL,   'n',    arg_int,    APTR(&G.Ncycles),   "N cycles of waiting in stopped state (default: 40)"},
    {"newx",        NEED_ARG,   NULL,   'X',    arg_double, APTR(&G.X),         "New X coordinate"},
    {"newy",        NEED_ARG,   NULL,   'Y',    arg_double, APTR(&G.Y),         "New Y coordinate"},
    end_option
};

static conf_t Config = {
    .MountDevPath = "/dev/ttyUSB0",
    .MountDevSpeed = 19200,
    //.EncoderDevPath = "/dev/ttyUSB1",
    //.EncoderDevSpeed = 153000,
    .MountReqInterval = 0.1,
    .SepEncoder = 0
};

void signals(int sig){
    if(sig){
        signal(sig, SIG_IGN);
        DBG("Get signal %d, quit.\n", sig);
    }
    Mount.quit();
    exit(sig);
}

int main(int _U_ argc, char _U_ **argv){
    sl_init();
    sl_parseargs(&argc, &argv, cmdlnopts);
    if(G.help) sl_showhelp(-1, cmdlnopts);
    if(MCC_E_OK != Mount.init(&Config)) ERRX("Can't init mount");
    coords_t M;
    if(!getPos(&M, NULL)) ERRX("Can't get current position");
    printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X), RAD2DEG(M.Y));
    if(isnan(G.X) && isnan(G.Y)){
        Mount.quit();
        return 0;
    }
    if(isnan(G.X)) G.X = RAD2DEG(M.X);
    if(isnan(G.Y)) G.Y = RAD2DEG(M.Y);
    printf("Moving to X=%g deg, Y=%g deg\n", G.X, G.Y);
    Mount.moveTo(DEG2RAD(G.X), DEG2RAD(G.Y));
    sleep(1);
    waitmoving(G.Ncycles);
    if(!getPos(&M, NULL)) WARNX("Can't get current position");
    else printf("New mount position: X=%g, Y=%g\n", RAD2DEG(M.X), RAD2DEG(M.Y));
    Mount.quit();
    return 0;
}