#pragma once

// The tower's three modes of operation, and what each one accepts.
//
//   auto    - sweep the scan grid, a picture at every waypoint (the normal,
//             unattended state; the boot service starts here with --start);
//   pan     - watch one direction: centred on a heading, walk left to right
//             across a span, a picture at each position, then back to the left
//             edge and again;
//   manual  - the gimbal does nothing by itself; a person drives it, over the
//             MQTT Command topic or at the console.
//
// Modes change only by command (`mode auto|pan|manual`), and the tower reports
// its mode on StatusCode, as the numeric value of Mode.

#include <string>
#include <vector>

namespace fgc {

enum class Mode { Auto = 0, Pan = 1, Manual = 2 };   // values = StatusCode

const char* modeName(Mode m);   // "auto" / "pan" / "manual"

// `mode pan <heading> <span> [<pitch>]`, all in degrees. Heading is a true
// bearing; the span is the full width covered, centred on it.
struct PanSpec {
    double heading = 0.0;
    double span    = 0.0;
    double pitch   = 0.0;
};

// The bearings a pan visits, left to right. A span narrower than one picture
// (`step`, hardware.ini [Hardware] pan_step_deg) is a single heading, the
// centre. Otherwise the span is cut into ceil(span / step) equal intervals and
// both edges are included: 90 +/- 15 at 6 degrees is 75, 81, ..., 105 - six
// pictures, never more than `step` apart. Bearings are wrapped to [0, 360).
std::vector<double> panHeadings(const PanSpec& pan, double step);

// `mode ...` from its whitespace-separated tokens (tokens[0] == "mode").
// `valid` false with `error` set on a bad command; a bare `mode` is valid with
// `query` set - it asks for the mode rather than changing it.
struct ModeRequest {
    bool        valid = false;
    bool        query = false;
    Mode        mode  = Mode::Manual;
    PanSpec     pan;
    std::string error;
};
ModeRequest parseModeCommand(const std::vector<std::string>& tokens);

// May this console command line run in `mode`? Manual accepts everything. Auto
// and pan accept only what cannot move the gimbal or change the tower's
// settings: reading its state, the log's verbosity, changing mode, cancelling,
// and exit. The one list, used for every source - MQTT, console, dashboard keys.
bool allowedIn(Mode mode, const std::string& line);

}  // namespace fgc