#include <include/stepper.h>
#include <thread>
#include <functional>
#include <iostream>
#include <fstream>

namespace simon {
  namespace stepper {
    c_stepper::c_stepper(const std::string& axis)
/*      : m_a4988
      {
        .gpio_en = 17,
        .gpio_step = 18,
        .gpio_dir = 22,
        .gpio_microsteps{
          true, true, true
      },
      m_stepper
      {
        .gear_reduction = 64.0f,
        .steps_per_revolution = 32.0f
      }
*/
    {
      auto j_set = json::parse(read_file("settings.json"));
      a4988::a4988_settings_t a4988_set = {0};
      if (!j_set["motors"].is_array()) {
        std::cout << "Expected an array in the configuration below \"motors\"." << "\n";
        // TODO: Throw exception
      }
      int ind = 0;
      for (auto& motor : j_set["motors"]) {
        ind++;
        if (motor["id"].is_string()) {
          if (motor["id"] == axis) {
            a4988::a4988_settings_t a = {
              // TODO: Do more sanizing before retrieving this data
              .gpio_en = motor["a4988"]["gpio_en"],
              .gpio_step = motor["a4988"]["gpio_step"],
              .gpio_dir = motor["a4988"]["gpio_dir"],
              .gpio_microsteps = motor["a4988"]["microsteps"]
            };
            auto a_ptr = std::make_unique<a4988::a4988_settings_t>(a);
            m_ptr_a4988 = std::make_unique<a4988::c_allegro_4988>(std::move(a_ptr));
            break;
          }
        } else {
          // TODO:Throw exception
          std::cerr << "Expected a string in the configuration below [\"motors\"][" << ind << "][\"id\"]\n";
        }
      }
      std::thread t1(std::bind(&a4988::c_allegro_4988::run, &(*m_ptr_a4988)));
      m_ptr_a4988->post_move(32768, true, 100);
      m_ptr_a4988->kill();
      t1.join();
    }

    std::string c_stepper::read_file(const std::string& fname) const
    {
      std::ifstream input_stream(fname);
      if (!input_stream) {
        // TODO: Throw exception here
        std::cerr << "Can't open input file!";
      }
      std::string line;
      std::string jstring;
      while (getline(input_stream, line)) {
          jstring += line;
      }
      return jstring;
    }
  }
}