#pragma once
#include <mutex>
#include <string>
#include <boost/spirit/include/qi.hpp>
#include <boost/spirit/include/phoenix.hpp>

namespace qi = boost::spirit::qi;

enum InputCommands
{
	no_cmd,
	startcamera,
	stopcamera,
	setcamera,
	setimagerate,
	setgimbal,
	setmotorcontrol,
	setdebug
};

struct parser_data {
	std::string command="";
	std::string device = "";
	std::string option = "";
	double command_val=0.0;
};

struct Parser
{
	parser_data p_data;
	std::mutex mut;
	void set_parser_data(parser_data& data) {
		std::cout << "parser set data..."  << std::endl;
		std::lock_guard<std::mutex> lg(mut);
		p_data = data;
	}

	void clear_parser_data() {
		//std::cout << "parser clear data..." << std::endl;
		std::lock_guard<std::mutex> lg(mut);
		p_data.command = "";
	}

	parser_data get_parser_data() {
		//std::cout << "parser get data..." << std::endl;
		std::lock_guard<std::mutex> lg(mut);
		parser_data temp= p_data;
		//clear_parser_data();
		return temp;
	}

	void parse_input(std::string input) {
		parser_data temp_data;
		qi::parse(
			input.begin(), input.end(),
			(*qi::char_("a-zA-Z") >> ' ' >> *qi::char_("a-zA-Z") >> ' ' >> *qi::char_("a-zA-Z") >> ' ' >> qi::double_),
			temp_data.command, temp_data.device, temp_data.option, temp_data.command_val
			);
		std::cout << temp_data.command  << " ... " << temp_data.device << " ... " << temp_data.option << " ... " << temp_data.command_val << std::endl;
		set_parser_data(temp_data);
		std::cout << "parser data set" << temp_data.command_val << std::endl;
	}
};

struct CMD_eval {
	InputCommands eval(Parser& parse) {
		if (parse.p_data.command == "start") {
			std::cout << "starting Camera" << std::endl;
			parse.clear_parser_data();
			return startcamera;
		}
		else if (parse.p_data.command == "stop") {
			std::cout << "stopping Camera" << std::endl;
			parse.clear_parser_data();
			return stopcamera;
		}
		else if (parse.p_data.command == "debug") {
			parse.clear_parser_data();
			return setdebug;
		}
		else if (parse.p_data.command == "set") {
			//std::cout << "setting" << std::endl;
			if (parse.p_data.device == "camera") {
				parse.clear_parser_data();
				return setcamera;
			}
			else if (parse.p_data.device == "fps") {
				parse.clear_parser_data();
				return setimagerate;
			}
			else if (parse.p_data.device == "motorctl") {
				parse.clear_parser_data();
				return setmotorcontrol;

			}

		}
		else {
			return no_cmd;
		}
	}
};