#pragma once

#include <string>

namespace fgc {

// Telemetry snapshot from the motor controller (was struct motor_info).
struct MotorTelemetry {
    int   encoder        = 0;   // Xenc
    int   encoder_err    = 0;   // Xerr
    int   sgt_val        = 0;   // StallGuard value
    int   sgt_stat       = 0;   // StallGuard status
    int   is_moving      = 0;   // movement flag (kept as int to preserve firmware semantics)
    int   control_status = 0;   // driver/controller status
    float heading        = 0.f; // degrees
    int   deviation_warn = 0;
    int   humidity       = 0;
    int   temperature    = 0;
    int   fan_pwm        = 0;   // 0-255
};

// Abstraction over the gimbal's motor controller. Implemented by
// SerialMotorController (Boost.Asio serial link) and MockMotorController
// (simulated, for development without hardware).
class IMotorController {
public:
    virtual ~IMotorController() = default;

    // Begin/*end* background telemetry reading.
    virtual void start() = 0;
    virtual void stop()  = 0;

    // Send a raw command string to the controller (e.g. "p", "kd180").
    virtual void sendCommand(const std::string& cmd) = 0;

    // Latest telemetry snapshot (thread-safe in implementations).
    virtual MotorTelemetry telemetry() = 0;

    // Whether the underlying link is usable.
    virtual bool connected() const = 0;
};

}  // namespace fgc