#pragma once

/*                          AstroSIB-FM700 FORK MOUNT CONTROL LIBRARY                           */

/*                          COMMON DEFINITIONS                         */


#include "asibfm700_hardware.h"
#include "mcc_fsm_mount.h"
#include "mcc_guiding_model.h"
#include "mcc_mount_astro_erfa.h"
#include "mcc_mount_pec.h"
#include "mcc_mount_pz.h"
#include "mcc_mount_telemetry.h"
#include "mcc_slew_model.h"

namespace asibfm700
{

typedef mcc::astrom::erfa::MccMountAstromEngineERFA<mcc::MccAngle> AsibFM700AstromEngine;

typedef mcc::MccMountDefaultPEC<mcc::MccMountType::FORK_TYPE> AsibFM700PointingErrorCorrection;

typedef mcc::MccMountTelemetryData<AsibFM700AstromEngine> AsibFM700TelemetryData;

typedef mcc::MccMountTelemetry<AsibFM700AstromEngine,
                               AsibFM700PointingErrorCorrection,
                               AsibFM700Hardware,
                               AsibFM700TelemetryData>
    AsibFM700Telemetry;


// typedef mcc::MccSimpleSlewModel<> AsibFM700SlewModel;
// typedef mcc::MccSimpleGuidingModel<> AsibFM700GuidingModel;


template <mcc::traits::mcc_logger_c LoggerT>
using AsibFM700SlewModel = mcc::MccSimpleSlewModel<LoggerT>;

template <mcc::traits::mcc_logger_c LoggerT>
using AsibFM700GuidingModel = mcc::MccSimpleGuidingModel<LoggerT>;


template <mcc::traits::mcc_logger_c LoggerT>
struct AsibFM700MountControls {
    AsibFM700MountControls(AsibFM700MountControls&&) = default;
    AsibFM700MountControls& operator=(AsibFM700MountControls&&) = default;

    AsibFM700AstromEngine astrometryEngine;
    AsibFM700PointingErrorCorrection PEC;
    AsibFM700Hardware hardware;
    AsibFM700Telemetry telemetry{astrometryEngine, PEC, hardware};
    AsibFM700SlewModel<LoggerT> slewModel;
    AsibFM700GuidingModel<LoggerT> guidingModel;

    std::tuple<mcc::MccAltLimitPZ<mcc::MccAltLimitKind::MIN_ALT_LIMIT>> prohibitedZones;
};

// global mount configuration

struct AsibFM700Config {
    std::chrono::milliseconds hardwareAskingPeriod{100};  // main cycle period

    // mount hardware config
    AsibFM700Hardware::hardware_config_t hardwareConfig;
};


class AsibFM700Mount : public mcc::MccMount<AsibFM700MountControls<mcc::utils::MccSpdlogLogger>>
{
public:
};

}  // namespace asibfm700