#pragma once

/*  MOUNT CONTROL COMPONENTS LIBRARY  */


/*  MOUNT TELEMETRY OBJECT CONCEPT AND POSSIBLE IMPLEMENTATION  */

#include <chrono>
#include <mutex>

// #include "mcc_mount_config.h"
#include "mcc_mount_concepts.h"

namespace mcc
{


// namespace traits
// {

// template <typename T>
// concept mcc_mount_telemetry_c = requires(T t, const T t_const) {
//     typename T::error_t;
//     typename T::mount_telemetry_data_t;

//     { t_const.errorString(std::declval<typename T::error_t>()) } -> mcc_formattable;

//     { t.update() } -> std::same_as<typename T::error_t>;

//     { t_const.data() } -> std::same_as<typename T::mount_telemetry_data_t>;
// };

// }  // namespace traits


class MccMountTelemetry
{
public:
    // mount current telemetry data: time, position and related quantities
    struct mount_telemetry_data_t {
        typedef double mnt_coord_t;
        typedef double mnt_speed_t;
        typedef double time_point_t;
        typedef std::vector<double> refr_coeff_t;

        // time-related
        std::chrono::system_clock::time_point utc;
        time_point_t mjd;  // modified Julian date
        time_point_t ut1;
        time_point_t tt;
        time_point_t siderTime;  // sideral time (in radians)

        // apparent target (user-input) current coordinates (in radians)
        mnt_coord_t tagRA, tagDEC;
        mnt_coord_t tagHA;
        mnt_coord_t tagAZ, tagZD;
        mnt_coord_t tagPA;  // paralactic angle

        // encoder-measured current mount coordinates (in radians)
        mnt_coord_t mntRA, mntDEC;
        mnt_coord_t mntHA;
        mnt_coord_t mntAZ, mntZD;
        mnt_coord_t mntPA;

        // encoder-measured (non-corrected for PCS) current mount position and moving speed (in radians, radians/s)
        // X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ZD for horizontal-type one
        mnt_coord_t mntPosX, mntPosY;
        mnt_speed_t mntSpeedX, mntSpeedY;

        // current refraction coefficients
        refr_coeff_t currRefrCoeffs;
        // current refraction correction (for tagZD)
        mnt_coord_t currRefr;

        // PCS (pointing correction system) corrections
        // X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ZD for horizontal-type one
        mnt_coord_t pcsX, pcsY;
    };

    template <MccMountType MOUNT_TYPE>
    MccMountTelemetry(MccMountConfig<MOUNT_TYPE>& mount_config)
    {
        // to be sure that mount_config is captured by reference
        const auto config_ptr = &mount_config;

        _updateImpl = [config_ptr, this]() {
            mount_telemetry_data_t current_data;

            // computing ...


            std::lock_guard lock{_updateMutex};

            _data = current_data;
        };
    }

    virtual ~MccMountTelemetry() = default;

    // update current data method
    void update()
    {
        _updateImpl();
    }

    mount_telemetry_data_t data(this auto&& self)
    {
        using self_t = decltype(self);

        std::lock_guard lock{std::forward<self_t>(self)._updateMutex};

        return std::move(std::forward<self_t>(self)._data);
    }


protected:
    mount_telemetry_data_t _data{};

    std::function<void()> _updateImpl{};

    std::mutex _updateMutex;
};

}  // namespace mcc