#pragma once

/*                          AstroSib FORK MOUNT FM-700 CONTROL LIBRARY                          */


/*                          COMMON LIBRARY DEFINITIONS                      */


#include <mcc_moving_model_common.h>
#include <mcc_pcm.h>
#include <mcc_pzone_container.h>
#include <mcc_spdlog.h>

#include "asibfm700_servocontroller.h"

namespace asibfm700
{

static constexpr mcc::MccMountType asibfm700MountType = mcc::MccMountType::FORK_TYPE;


typedef mcc::MccDefaultPCM<asibfm700MountType> Asibfm700PCM;
typedef mcc::MccPZoneContainer<mcc::MccTimeDuration> Asibfm700PZoneContainer;
typedef mcc::utils::MccSpdlogLogger Asibfm700Logger;


/*    MOUNT CONFIGURATION CLASS    */

struct Asibfm700MountConfig {
    std::chrono::milliseconds hardwarePollingPeriod{100};  // main cycle period

    // CCTE-related configuration
    mcc::MccAngle siteLatitude{43.646711_degs};   // in radians
    mcc::MccAngle siteLongitude{41.440732_degs};  // in radians
    double siteElevation{2070.0};                 // in meters
    double refractWavelength{0.55};               // in mkm

    std::string leapSecondFilename{""};  // an empty filename means default precompiled string
    std::string bulletinAFilename{""};   // an empty filename means default precompiled string


    // PCM-related configuration (no B-spline term, all coefficients are zero)
    Asibfm700PCM::pcm_data_t pcmData{.type = mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY,
                                     .siteLatitude = siteLatitude,
                                     .geomCoefficients = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};

    // servo controller configuration
    AsibFM700ServoController::hardware_config_t servoControllerConfig{};

    // slew and track parameters
    mcc::MccSimpleMovingModelParams movingModelParams{};

    // prohibited zones parameters
    mcc::MccAngle pzMinAltitude{10.0_degs};  // in radians
    mcc::MccAngle pzLimitSwitchHAMin{};      // in radians
    mcc::MccAngle pzLimitSwitchHAMax{};      // in radians
};


/*    MOUNT CONFIGURATION FILE DEFAULTS    */

struct Asibfm700MountConfigFileDefailts {
    std::string hardwarePollingPeriod{"100"};  // main cycle period in millisecs

    std::string siteLatitude{"43.646711"};   // site latitude in degrees or sexagesimal format
    std::string siteLongitude{"41.440732"};  // site longitude in degrees or sexagesimal format
    std::string siteElevation{"2070.0"};     // site elevation in meters

    std::string refractWavelength{"0.55"};  //  wavelength at which refraction is calculated (in mkm)

    std::string leapSecondFilename{""};  // an empty filename means default precompiled string
    std::string bulletinAFilename{""};   // an empty filename means default precompiled string

    // pointing correction model

    std::string pcmType{"GEOMETRY"};
    std::vector<std::string> pcmGeomCoeffs{"0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "0.0"};
    std::vector<std::string> pcmBsplineDegree{"3", "3"};
    // [0, 360]
    std::vector<std::string> pcmBsplineXknots{"0.0",       "0.6981317", "1.3962634",  "2.0943951",  "2.7925268",
                                              "3.4906585", "4.1887902", "4.88692191", "5.58505361", "6.28318531"};
    // [-30, 90]
    std::vector<std::string> pcmBsplineYknots{"-0.52359878", "-0.29088821", "-0.05817764", "0.17453293", "0.40724349",
                                              "0.63995406",  "0.87266463",  "1.10537519",  "1.33808576", "1.57079633"};

    std::vector<std::string> pcmBsplineXcoeffs{};
    std::vector<std::string> pcmBsplineYcoeffs{};

    // slewing and tracking parameters

    std::string sideralRate{"15.0410686"};  // arcseconds per second
    std::string telemetryTimeout{"3"};      // timeout for telemetry updating in seconds
    std::string minTimeToPZone{"10"};       // minimal time in seconds to prohibited zone
    // a time interval to update prohibited zones related quantities
    std::string updatingPZoneInterval{"5000"};  //  in millisecs
    std::string slewToleranceRadius{"5.0"};     // coordinates difference in arcsecs to stop slewing
    std::string adjustCoordDiff{"50.0"};  // target-mount coordinate difference in arcsecs to start adjusting of slewing
    std::string adjustCycleInterval{"300"};  // minimum time in millisecs between two successive adjustments
    std::string slewTimeout{"3600"};         // slew process timeout
    // a time shift into future to compute target position in future (UT1-scale time duration)
    std::string timeShiftToTargetPoint{"10000"};  // in millisecs
    std::string trackingCycleInterval{"300"};  // minimum time in millisecs between two successive tracking corrections

    // prohibited zones
    std::string pzMinAltitude{"10.0"};   // minimal altitude in degrees
    std::string pzLimitSwitchHAMin{""};  // HA-axis limit switch minimal value
    std::string pzLimitSwitchHAMaz{""};  // HA-axis limit switch maximal value

    // hardware
    std::string hwMaxRateHA{""};   // maximal moving rate along HA-axis (Y-axis of Sidereal servo microcontroller)
    std::string hwMaxRateDEC{""};  // maximal moving rate along DEC-axis (X-axis of Sidereal servo microcontroller)
};

}  // namespace asibfm700