#pragma once

/*  MOUNT CONTROL COMPONENTS LIBRARY  */

/*  MOUNT HARDWARE CONCEPTS   */


#include <utility>
#include "mcc_traits.h"

namespace mcc
{

namespace traits
{

// encoder basic concept (e.g. mount axis encoder or motor shaft one)
template <typename T>
concept mcc_hw_encoder_c = requires(T t, const T t_const) {
    typename T::error_t;

    typename T::time_point_t;
    typename T::coord_t;
    typename T::speed_t;
    typename T::accel_t;
    // typename T::high_order_deriv_t;

    requires requires(typename T::state_t st) {
        std::same_as<decltype(st.time), typename T::time_point_t>;
        std::same_as<decltype(st.pos), typename T::coord_t>;
        std::same_as<decltype(st.speed), typename T::speed_t>;
        std::same_as<decltype(st.accel), typename T::accel_t>;
        // std::same_as<decltype(st.high_order), typename T::high_order_deriv_t>;
    };

    { t_const.id() } -> mcc_formattable;

    { t.getState(std::declval<typename T::state_t&>()) } -> std::same_as<typename T::error_t>;
};


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

    typename T::coord_t;
    typename T::speed_t;
    typename T::accel_t;

    requires requires(typename T::pos_t st) {
        std::same_as<decltype(st.pos), typename T::coord_t>;
        std::same_as<decltype(st.speed), typename T::speed_t>;  // means maximal allowed speed
        std::same_as<decltype(st.accel), typename T::accel_t>;  // means a maximal allowed acceleration (jerk)
    };


    { t_const.id() } -> mcc_formattable;

    { t.rotate(std::declval<typename T::pos_t>()) } -> std::same_as<typename T::error_t>;

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



namespace details
{
template <typename T>
concept mcc_tuple_enc_ref_c = mcc_tuple_c<T> && requires(T t) {
    []<template <typename...> typename TT, mcc_hw_encoder_c... Ts>(TT<Ts & ...>) {}(t);
};

template <typename T>
concept mcc_tuple_enc_cref_c = mcc_tuple_c<T> && requires(T t) {
    []<template <typename...> typename TT, mcc_hw_encoder_c... Ts>(TT<const Ts & ...>) {}(t);
};

template <typename T>
concept mcc_tuple_motor_ref_c = mcc_tuple_c<T> && requires(T t) {
    []<template <typename...> typename TT, mcc_hw_motor_c... Ts>(TT<Ts & ...>) {}(t);
};


template <typename T>
concept mcc_hw_enc_lref_c = std::is_lvalue_reference_v<T> && mcc_hw_encoder_c<std::remove_reference_t<T>>;


template <typename T>
concept mcc_hw_motor_lref_c = std::is_lvalue_reference_v<T> && mcc_hw_motor_c<std::remove_reference_t<T>>;

}  // namespace details


// a very generic mount hardware concept
template <typename T>
concept mcc_mount_hardware_c = requires(T t, const T t_const) {
    { t_const.id() } -> mcc_formattable;

    // access to encoders
    { t_const.encoders() } -> details::mcc_tuple_enc_cref_c;
    { t.encoders() } -> details::mcc_tuple_enc_ref_c;

    { t.encoderPosX() } -> details::mcc_hw_enc_lref_c;
    { t.encoderPosY() } -> details::mcc_hw_enc_lref_c;

    // access to motors
    { t.motors() } -> details::mcc_tuple_motor_ref_c;

    { t.motorX() } -> details::mcc_hw_motor_lref_c;
    { t.motorY() } -> details::mcc_hw_motor_lref_c;
};

}  // namespace traits

}  // namespace mcc