#pragma once

#include <mcc_defaults.h>
#include <mcc_generics.h>

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


namespace asibfm700
{

/*  error codes enum definition  */

enum class AsibFM700ServoControllerErrorCode : 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(AsibFM700ServoControllerErrorCode ec)
{
    return std::error_code(static_cast<int>(ec), AsibFM700HardwareErrorCategory::get());
}

}  // namespace asibfm700


namespace std
{

template <>
class is_error_code_enum<asibfm700::AsibFM700ServoControllerErrorCode> : public true_type
{
};

}  // namespace std


namespace asibfm700
{

class AsibFM700ServoController
{
public:
    typedef std::error_code error_t;

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

    struct hardware_state_t {
        static constexpr mcc::MccCoordPairKind pair_kind = mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP;
        mcc::MccTimePoint time_point;

        double X, Y, speedX, speedY;

        hardware_moving_state_t moving_state;
    };


    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;
    };

    /*  constructors and destructor  */

    AsibFM700ServoController();

    AsibFM700ServoController(hardware_config_t config);

    AsibFM700ServoController(const AsibFM700ServoController&) = delete;
    AsibFM700ServoController& operator=(const AsibFM700ServoController&) = delete;

    AsibFM700ServoController(AsibFM700ServoController&&);
    AsibFM700ServoController& operator=(AsibFM700ServoController&&);

    ~AsibFM700ServoController();

    /*  public methods  */

    constexpr std::string_view hardwareName() const;

    error_t hardwareSetState(hardware_state_t state);
    error_t hardwareGetState(hardware_state_t* state);

    error_t hardwareStop();
    error_t hardwareInit();

    void hardwareUpdateConfig(conf_t cfg);
    void hardwareUpdateConfig(hardware_configuration_t cfg);

private:
    hardware_config_t _hardwareConfig;

    std::unique_ptr<std::mutex> _setStateMutex;
};

}  // namespace asibfm700