#pragma once

/*                          AstroSIB-FM700 FORK MOUNT CONTROL LIBRARY                           */

/*                          HARDWARE WRAPPER IMPLEMENTATION                         */

#include <thread>

#include "../LibSidServo/sidservo.h"

#include "mcc_mount_concepts.h"
#include "mcc_mount_coord.h"


namespace asibfm700
{

/*  error codes enum definition  */

enum class AsibFM700HardwareErrorCode : int {
    // error codes from sidservo library
    ERROR_OK = MCC_E_OK,
    ERROR_FATAL = MCC_E_FATAL,
    ERROR_BADFORMAT = MCC_E_BADFORMAT,
    ERROR_ENCODERDEV = MCC_E_ENCODERDEV,
    ERROR_MOUNTDEV = MCC_E_MOUNTDEV,
    ERROR_FAILED = MCC_E_FAILED,
    // my codes ...
};

// error category
struct AsibFM700HardwareErrorCategory : public std::error_category {
    const char* name() const noexcept;
    std::string message(int ec) const;

    static const AsibFM700HardwareErrorCategory& get();
};


static inline std::error_code make_error_code(AsibFM700HardwareErrorCode ec)
{
    return std::error_code(static_cast<int>(ec), AsibFM700HardwareErrorCategory::get());
}

}  // namespace asibfm700


namespace std
{

template <>
class is_error_code_enum<asibfm700::AsibFM700HardwareErrorCode> : public true_type
{
};

}  // namespace std



namespace asibfm700
{

class AsibFM700Hardware final
{
public:
    static constexpr uint8_t XMOTOR_STOP_BIT = 0b00000001;  // if 0th bit set then motor is stopped
    static constexpr uint8_t YMOTOR_STOP_BIT = 0b00010000;  // if 4th bit set then motor is stopped

    // definitions from concept
    typedef std::error_code error_t;
    typedef mcc::MccAngle coord_t;
    typedef std::chrono::system_clock::time_point time_point_t;  // UTC time

    enum class hw_moving_type_t : int { HW_MOVE_SLEWING, HW_MOVE_ADJUSTING, HW_MOVE_TRACKING, HW_MOVE_GUIDING };

    struct axes_pos_t {
        time_point_t time_point;
        coord_t x, y;
        coord_t xrate, yrate;

        hw_moving_type_t moving_type{hw_moving_type_t::HW_MOVE_TRACKING};
        slewflags_t flags;
        bool moveAndStop{false};
    };


    struct hardware_config_t {
        // the 'char*' fields from conf_t:
        //    wrap it to std::string
        std::string MountDevPath;
        std::string EncoderDevPath;
        std::string EncoderXDevPath;
        std::string EncoderYDevPath;

        conf_t devConfig;
        hardware_configuration_t hwConfig;
    };

    AsibFM700Hardware(const hardware_config_t& conf);

    ~AsibFM700Hardware();

    AsibFM700Hardware(const AsibFM700Hardware&) = delete;
    AsibFM700Hardware& operator=(const AsibFM700Hardware&) = delete;

    AsibFM700Hardware(AsibFM700Hardware&&) = default;
    AsibFM700Hardware& operator=(AsibFM700Hardware&&) = default;


    std::string_view id() const;

    error_t setPos(axes_pos_t);
    error_t getPos(axes_pos_t&);

    error_t stop();
    error_t init();

private:
    hardware_config_t _hardwareConfig;

    std::jthread _statePollingThread;

    double _sideralRate2;  // square of sideral rate
    double _sideralRateEps2;
};

static_assert(mcc::traits::mcc_mount_hardware_c<AsibFM700Hardware>, "AsibFM700Hardware!!!");


}  // namespace asibfm700