#include <iostream>

#include <random>

#include <mcc_pcm.h>
#include <mcc_telemetry.h>


static std::random_device rd;
static std::mt19937 gen(rd());
static std::uniform_int_distribution<long> tm_distrib(100, 700);
static std::uniform_real_distribution<double> x_distrib(1000, 7000);
static std::uniform_real_distribution<double> y_distrib(1000, 7000);
static std::uniform_real_distribution<double> xs_distrib(100, 700);
static std::uniform_real_distribution<double> ys_distrib(100, 700);

struct hw_t {
    static constexpr std::string_view hardwareName{"HW-TEST"};

    typedef int error_t;

    enum class hardware_movement_state_t : int {
        HW_MOVE_ERROR = -1,
        HW_MOVE_STOPPED = 0,
        HW_MOVE_STOPPING,
        HW_MOVE_SLEWING,
        HW_MOVE_ADJUSTING,
        HW_MOVE_TRACKING,
        HW_MOVE_GUIDING
    };

    struct hardware_state_t {
        mcc::impl::MccGenXY XY{1.0, 1.0}, speedXY{2.0, 2.0};
        hardware_movement_state_t movementState{hardware_movement_state_t::HW_MOVE_STOPPED};
    };


    error_t hardwareSetState(hardware_state_t const&)
    {
        return 0;
    }


    error_t hardwareGetState(hardware_state_t* state)
    {
        auto ms = std::chrono::milliseconds(tm_distrib(gen));
        std::cout << "\tgetState running " << ms << " ...";

        std::this_thread::sleep_for(ms);

        std::cout << "\tdone!\n";

        *state = hardware_state_t{.XY{x_distrib(gen), y_distrib(gen)}, .speedXY{xs_distrib(gen), ys_distrib(gen)}};

        return 0;
    }

    error_t hardwareInit()
    {
        return 0;
    }
};


static_assert(mcc::mcc_hardware_c<hw_t>, "!!!!!");


typedef mcc::impl::MccTelemetry<hw_t> t_t;

int main()
{
    hw_t hw;
    mcc::impl::MccMountDefaultForkPec pcm;

    t_t tlm(&hw, &pcm);
    typename t_t::telemetry_data_t tdata;

    for (int i = 0; i < 20; ++i) {
        std::cout << std::format("{}-th run\n", i + 1);

        auto err = tlm.telemetryData(&tdata);
        std::cout << "\tgot hw: XY = {" << tdata.hwState.XY.x() << ", " << tdata.hwState.XY.y() << "};  speedXY = {"
                  << tdata.hwState.speedXY.x() << ", " << tdata.hwState.speedXY.y() << "}\n";
        if (err) {
            std::cout << "ERR: " << err.message() << "\n";
        }
    }

    return 0;
}