ASIBFM700/asibfm700_mount.h

#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::MccGenericAsyncMovementControls<details::movement_pars_t>,
                                        Asibfm700Logger>
{
    typedef mcc::impl::MccGenericMount<mcc::impl::MccTelemetry<AsibFM700ServoController>,
                                       Asibfm700PZoneContainer,
                                       // mcc::impl::MccSimpleMovementControls,
                                       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;

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


    // using Asibfm700CCTE::setStateERFA;
    // using Asibfm700CCTE::updateBulletinA;
    // using Asibfm700CCTE::updateLeapSeconds;
    // using Asibfm700CCTE::updateMeteoERFA;

    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 Asibfm700Logger::logCritical;
    // using Asibfm700Logger::logDebug;
    // using Asibfm700Logger::logError;
    // using Asibfm700Logger::logInfo;
    // using Asibfm700Logger::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();

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{};

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

    error_t sendToHardware(AsibFM700ServoController::hardware_state_t const& hw_state);
    error_t checkPZone(typename telemetry_t::telemetry_data_t const& tdata);
    void logMountPos(telemetry_t::telemetry_data_t const& tdata);

    std::unique_ptr<std::atomic<error_t>> _lastMountError{
        new std::atomic<error_t>{mcc::impl::MccGenericMountErrorCode::ERROR_OK}};
};


/*
class Asibfm700Mount : public Asibfm700CCTE,
                       public Asibfm700PCM,
                       public mcc::MccGenericFsmMount<mcc::MccGenericMount<AsibFM700ServoController,
                                                                           mcc::MccTelemetry,
                                                                           Asibfm700PZoneContainer,
                                                                           mcc::MccSimpleSlewingModel,
                                                                           mcc::MccSimpleTrackingModel,
                                                                           Asibfm700Logger>>
{
    typedef mcc::MccGenericMount<AsibFM700ServoController,
                                 mcc::MccTelemetry,
                                 Asibfm700PZoneContainer,
                                 mcc::MccSimpleSlewingModel,
                                 mcc::MccSimpleTrackingModel,
                                 Asibfm700Logger>
        gm_class_t;

    typedef mcc::MccGenericFsmMount<mcc::MccGenericMount<AsibFM700ServoController,
                                                         mcc::MccTelemetry,
                                                         Asibfm700PZoneContainer,
                                                         mcc::MccSimpleSlewingModel,
                                                         mcc::MccSimpleTrackingModel,
                                                         Asibfm700Logger>>
        base_gm_class_t;

protected:
    struct Asibfm700ErrorState : base_gm_class_t::MccGenericFsmMountBaseState {
        static constexpr std::string_view ID{"ASIBFM700-MOUNT-ERROR-STATE"};

        // void exit(MccGenericFsmMountErrorEvent& event)
        // {
        //     event.mount()->logWarn("The mount already in error state!");
        // }

        void enter(MccGenericFsmMountErrorEvent& event)
        {
            enterLog(event);

            // event.mount()->logWarn("The mount already in error state!");
            auto err = event.eventData();
            event.mount()->logError("An error occured: {} [{} {}]", err.message(), err.value(), err.category().name());
        }

        void exit(mcc::fsm::traits::fsm_event_c auto& event)
        {
            exitLog(event);
        }

        void enter(mcc::fsm::traits::fsm_event_c auto& event)
        {
            enterLog(event);

            // ...
        }

        using transition_t = mcc::fsm::fsm_transition_table_t<
            std::pair<MccGenericFsmMountErrorEvent, Asibfm700ErrorState>,
            std::pair<MccGenericFsmMountInitEvent, MccGenericFsmMountInitState<Asibfm700ErrorState>>,
            std::pair<MccGenericFsmMountIdleEvent, MccGenericFsmMountIdleState<Asibfm700ErrorState>>>;
    };


    typedef base_gm_class_t::MccGenericFsmMountStartState<Asibfm700ErrorState> Asibfm700StartState;

public:
    using base_gm_class_t::error_t;

    using Asibfm700CCTE::setStateERFA;
    using Asibfm700CCTE::updateBulletinA;
    using Asibfm700CCTE::updateLeapSeconds;
    using Asibfm700CCTE::updateMeteoERFA;

    using Asibfm700Logger::logCritical;
    using Asibfm700Logger::logDebug;
    using Asibfm700Logger::logError;
    using Asibfm700Logger::logInfo;
    using Asibfm700Logger::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&);
    Asibfm700MountConfig currentMountConfig();

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

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

// static_assert(mcc::mcc_position_controls_c<Asibfm700Mount>, "");
// static_assert(mcc::mcc_all_controls_c<Asibfm700Mount>, "");

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

}  // namespace asibfm700