/*
    Lakeside Focuser
    Copyright (C) 2017 Phil Shepherd (psjshep@googlemail.com)
    Technical Information kindly supplied by Peter Chance at LakesideAstro (info@lakeside-astro.com)

    Code template from original Moonlite code by Jasem Mutlaq (mutlaqja@ikarustech.com)

    This library is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 2.1 of the License, or (at your option) any later version.

    This library is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    Lesser General Public License for more details.

    You should have received a copy of the GNU Lesser General Public
    License along with this library; if not, write to the Free Software
    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA

*/

#pragma once

#include "indifocuser.h"

#include <cstdint>

class Lakeside : public INDI::Focuser
{
    public:
        Lakeside();
        ~Lakeside() override = default;

        const char * getDefaultName() override;
        virtual bool initProperties() override;
        virtual bool updateProperties() override;
        virtual bool ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n) override;
        virtual bool ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n) override;

    protected:

        virtual bool Handshake() override;
        virtual IPState MoveAbsFocuser(uint32_t ticks) override;
        virtual IPState MoveRelFocuser(FocusDirection dir, uint32_t ticks) override;
        virtual bool AbortFocuser() override;
        virtual void TimerHit() override;
        virtual bool ReverseFocuser(bool enabled) override;
        virtual bool SetFocuserBacklashEnabled(bool enabled) override;
        virtual bool SetFocuserBacklash(int32_t steps) override;

    private:
        double lastTemperature { 1e6 };
        uint32_t currentSpeed, targetPos;

        struct timeval focusMoveStart;
        float focusMoveRequest;

        void GetFocusParams();
        bool updateMoveDirection();
        bool updateMaxTravel();
        bool updateStepSize();
        bool updateBacklash();
        bool updateTemperature();
        bool updateTemperatureK();
        bool updatePosition();
        bool LakesideOnline();

        bool updateActiveTemperatureSlope();
        bool updateSlope1Inc();
        bool updateSlope1Dir();
        bool updateSlope1Deadband();
        bool updateSlope1Period();
        bool updateSlope2Inc();
        bool updateSlope2Dir();
        bool updateSlope2Deadband();
        bool updateSlope2Period();

        bool GetLakesideStatus();

        char DecodeBuffer(char* in_response);
        bool SendCmd(const char *in_cmd);
        bool ReadBuffer(char* response);

        bool gotoPosition(uint32_t position);

        bool setCalibration();

        bool setTemperatureTracking(bool enable);
        bool setBacklash(int backlash );
        bool setStepSize(int stepsize );
        bool setMaxTravel(int);
        //bool setMoveDirection(int direction);

        bool setActiveTemperatureSlope(uint32_t active_slope);
        bool setSlope1Inc(uint32_t slope1_inc);
        bool setSlope1Dir(uint32_t slope1_direction);
        bool setSlope1Deadband(uint32_t slope1_deadband);
        bool setSlope1Period(uint32_t slope1_period);
        bool setSlope2Inc(uint32_t slope2_inc);
        bool setSlope2Dir(uint32_t slope2_direction);
        bool setSlope2Deadband(uint32_t slope2_deadband);
        bool setSlope2Period(uint32_t slope2_period);

        void hexDump(char * buf, const char * data, int size);

        INumber TemperatureN[1];
        INumberVectorProperty TemperatureNP;

        INumber TemperatureKN[1];
        INumberVectorProperty TemperatureKNP;

        //    ISwitch MoveDirectionS[2];
        //    ISwitchVectorProperty MoveDirectionSP;

        INumber StepSizeN[1];
        INumberVectorProperty StepSizeNP;

        //    INumber BacklashN[1];
        //    INumberVectorProperty BacklashNP;

        INumber MaxTravelN[1];
        INumberVectorProperty MaxTravelNP;

        ISwitch TemperatureTrackingS[2];
        ISwitchVectorProperty TemperatureTrackingSP;

        ISwitch ActiveTemperatureSlopeS[2];
        ISwitchVectorProperty ActiveTemperatureSlopeSP;

        INumber Slope1IncN[1];
        INumberVectorProperty Slope1IncNP;

        ISwitch Slope1DirS[2];
        ISwitchVectorProperty Slope1DirSP;

        INumber Slope1DeadbandN[1];
        INumberVectorProperty Slope1DeadbandNP;

        INumber Slope1PeriodN[1];
        INumberVectorProperty Slope1PeriodNP;

        INumber Slope2IncN[1];
        INumberVectorProperty Slope2IncNP;

        ISwitch Slope2DirS[2];
        ISwitchVectorProperty Slope2DirSP;

        INumber Slope2DeadbandN[1];
        INumberVectorProperty Slope2DeadbandNP;

        INumber Slope2PeriodN[1];
        INumberVectorProperty Slope2PeriodNP;

        static constexpr const char *SETTINGS_TAB { "Settings" };
        static constexpr const double TEMPERATURE_THRESHOLD { 0.05 };

};
