// SPDX-License-Identifier: LGPL-3.0-or-later
// ST4-ESP32: High-level mount controller
// Owns axes, trackers, and pulse engine with configurable sidereal rates
// Controller-level mutex ensures composite operations are atomic across cores

#pragma once

#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
#include "ST4Types.h"
#include "ST4Config.h"
#include "ST4Axis.h"
#include "ST4Tracker.h"
#include "ST4Pulse.h"

class ST4Controller {
    ST4Axis axes_[2];
    ST4Tracker trackers_[2];
    ST4Pulse pulse_;

    ST4RateConfig rateConfig_;
    bool connected_;
    int ledPin_;
    mutable SemaphoreHandle_t mutex_;

    double calculateSlewRate(ST4AxisId axis, ST4Direction dir) const;

public:
    ST4Controller();
    ~ST4Controller();

    void begin(int raPlusPin = ST4_PIN_RA_PLUS,
               int raMinusPin = ST4_PIN_RA_MINUS,
               int decPlusPin = ST4_PIN_DEC_PLUS,
               int decMinusPin = ST4_PIN_DEC_MINUS,
               int ledPin = ST4_PIN_LED,
               ST4PinLogic logic = ST4PinLogic::ACTIVE_HIGH);

    void setRates(const ST4RateConfig& config);

    void connect();
    void disconnect();
    bool isConnected() const;

    void move(ST4AxisId axis, ST4Direction dir);
    void stopAxis(ST4AxisId axis);
    void stopAll();

    bool pulseGuide(ST4AxisId axis, ST4Direction dir, uint32_t ms);
    bool isPulseActive() const;

    double position(ST4AxisId axis) const;
    void setPosition(ST4AxisId axis, double pos);
    void sync(double ra, double dec);

    ST4Direction axisDirection(ST4AxisId axis) const;
    bool axisActive(ST4AxisId axis) const;

    ST4State state() const;

    ST4Axis& axis(ST4AxisId id);
    ST4Tracker& tracker(ST4AxisId id);
};