#pragma once

#include <mcc/mcc_generic_mount.h>
#include <mcc/mcc_generic_movecontrols.h>
// #include <mcc/mcc_movement_controls.h>
#include <mcc/mcc_pzone_container.h>
#include <mcc/mcc_spdlog.h>
#include <mcc/mcc_telemetry.h>

#include "asibfm700_common.h"
#include "asibfm700_configfile.h"

namespace asibfm700
{



class Asibfm700Mount
    : public mcc::impl::MccGenericMount<mcc::impl::MccTelemetry<AsibFM700ServoController>,
                                        Asibfm700PZoneContainer,
                                        // mcc::impl::MccSimpleMovementControls,
                                        // mcc::impl::MccGenericBlockingMovementControls<details::movement_pars_t>,
                                        mcc::impl::MccGenericAsyncMovementControls<details::movement_pars_t>,
                                        Asibfm700Logger>
{
    typedef mcc::impl::MccGenericMount<mcc::impl::MccTelemetry<AsibFM700ServoController>,
                                       Asibfm700PZoneContainer,
                                       // mcc::impl::MccSimpleMovementControls,
                                       // mcc::impl::MccGenericBlockingMovementControls<details::movement_pars_t>,
                                       mcc::impl::MccGenericAsyncMovementControls<details::movement_pars_t>,
                                       Asibfm700Logger>
        gm_class_t;


public:
    typedef mcc::impl::MccTelemetry<AsibFM700ServoController> telemetry_t;

    typedef mcc::impl::MccGenericAsyncMovementControls<details::movement_pars_t> movement_controls_t;
    // typedef mcc::impl::MccGenericBlockingMovementControls<details::movement_pars_t> movement_controls_t;

    using typename gm_class_t::error_t;
    using typename movement_controls_t::movement_params_t;


    using gm_class_t::logCritical;
    using gm_class_t::logDebug;
    using gm_class_t::logError;
    using gm_class_t::logInfo;
    using gm_class_t::logWarn;

    // using Asibfm700PZoneContainer::addPZone;

    Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr<spdlog::logger> logger);

    ~Asibfm700Mount();

    Asibfm700Mount(Asibfm700Mount&&) = default;
    Asibfm700Mount& operator=(Asibfm700Mount&&) = default;

    Asibfm700Mount(const Asibfm700Mount&) = delete;
    Asibfm700Mount& operator=(const Asibfm700Mount&) = delete;

    error_t initMount();

    error_t updateMountConfig(Asibfm700MountConfig const&);
    error_t updateMountConfig(std::string const&);
    Asibfm700MountConfig currentMountConfig();

    // redefined method
    auto getPointingTarget() const
    {
        return _enteredBackupCoordinates;
    }

protected:
    Asibfm700MountConfig _mountConfig;
    std::unique_ptr<std::mutex> _mountConfigMutex;

    AsibFM700ServoController _servolController;
    Asibfm700PCM _pcm;

    void errorLogging(const std::string&, const std::error_code&);

    // movement methods
    mcc::impl::MccMovementPathFile _pathFile{};
    decltype(telemetry_data_t::targetPos) _enteredBackupCoordinates;

    error_t slewingImpl(bool);
    error_t trackingImpl();
    error_t stoppingImpl();

    error_t sendToHardware(AsibFM700ServoController::hardware_state_t const& hw_state);

    // if predicted == true then the method checks the coordinates calculated for a point in time in the future, i.e.
    //                 the predicted position if the movement is immediately stopped.
    // if predicted == false then the method checks the current mount coordinates
    error_t checkPZone(typename telemetry_t::telemetry_data_t const& tdata, bool predicted = true);

    void logMountPos(telemetry_t::telemetry_data_t const& tdata);
};



static_assert(mcc::mcc_generic_mount_c<Asibfm700Mount>, "");

}  // namespace asibfm700