#pragma once

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


/*                          COMMON LIBRARY DEFINITIONS                      */


#include <mcc/mcc_concepts.h>
#include <mcc/mcc_pcm.h>
#include <mcc/mcc_pzone_container.h>
#include <mcc/mcc_spdlog.h>


namespace asibfm700
{

namespace details
{

struct movement_pars_t {
    // *******    common for all modes    *******

    // mean celestial rate
    static constexpr double sideralRate = 15.0410686_arcsecs;  // in radians per second

    // timeout to telemetry updating
    std::chrono::milliseconds telemetryTimeout{3000};

    // minimal time to prohibited zone (at current speed in slewing mode). if it is lesser then exit with error
    std::chrono::seconds minTimeToPZone{10};

    // time interval to update prohibited zones related quantities (e.g. intersection points)
    std::chrono::milliseconds updatingPZoneInterval{5000};

    // braking acceleration after execution of mount stopping command (in rads/s^2)
    // it must be given as non-negative value!!!
    double brakingAccelX{0.0};
    double brakingAccelY{0.0};


    // *******    slewing mode    *******

    bool slewAndStop{false};  // slew to target and stop mount

    // coordinates difference to stop slewing (in radians)
    double slewToleranceRadius{5.0_arcsecs};

    // telemetry request interval
    std::chrono::milliseconds slewingTelemetryInterval{100};

    // target-mount coordinate difference to start adjusting of slewing (in radians)
    double adjustCoordDiff{slewToleranceRadius * 10.0};

    // slew process timeout
    std::chrono::seconds slewTimeout{3600};

    double slewRateX{0.0};  // maximal slewing rate (0 means move with maximal allowed rate????!!!!!)
    double slewRateY{0.0};  // maximal slewing rate (0 means move with maximal allowed rate????!!!!!)

    std::chrono::milliseconds adjustCycleInterval{500};  // minimum time between two successive adjustments

    double adjustRateX{5.0_arcmins};  // maximal adjusting rate (a rate at the final slewing stage)
    double adjustRateY{5.0_arcmins};  // maximal adjusting rate (a rate at the final slewing stage)

    // slewing trajectory file. if empty - just skip saving
    std::string slewingPathFilename{};


    // *******    tracking mode    *******

    // telemetry request interval
    std::chrono::milliseconds trackingTelemetryInterval{100};

    double trackSpeedX{};
    double trackSpeedY{};
    std::chrono::milliseconds trackingCycleInterval{500};  // minimum time between two successive tracking corrections
    bool dualAxisTracking{true};  // mount must be of an equatorial type: false means guiding along only HA-axis

    // time shift into future to compute target position in future (UT1-scale time duration)
    std::chrono::milliseconds timeShiftToTargetPoint{10000};
    // maximal target-to-mount difference for tracking process (in arcsecs)
    // it it is greater then the current mount coordinates are used as target one
    double trackingMaxCoordDiff{20.0};

    // tracking trajectory file. if empty - just skip saving
    std::string trackingPathFilename{};
};

}  // namespace details


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


typedef mcc::ccte::erfa::MccCCTE_ERFA Asibfm700CCTE;
typedef mcc::impl::MccDefaultPCM<asibfm700MountType> Asibfm700PCM;
typedef mcc::impl::MccPZoneContainer Asibfm700PZoneContainer;
typedef mcc::utils::MccSpdlogLogger Asibfm700Logger;

}  // namespace asibfm700