#ifndef INCLUDED_HAL_STEPPER
#define INCLUDED_HAL_STEPPER

#include <include/a4988.h>
#include <lib/json.hpp>
#include <thread>

namespace simon {
  namespace stepper {

    using json = nlohmann::json;

    typedef struct {
      float gear_reduction;
      float steps_per_revolution;
    } settings_t;

    class c_stepper
    {
      public:
        c_stepper(const std::string& axis);
      private:
        settings_t m_stepper;
        std::unique_ptr<a4988::c_allegro_4988> m_ptr_a4988;
        std::thread m_thread;
      private:
        std::string read_file(const std::string& fname) const;
        void extract_settings(const json& j_set, const std::string& axis);
    };
  } // namespace stepper
} // namespace simon

#endif /*INCLUDED_HAL_STEPPER*/