#ifndef FACT_HeadersLid
#define FACT_HeadersLid

namespace Lid
{
    enum motor_stop_reason_t{
        M_NO_REASON,
        M_OVERCURRENT,
        M_ZEROCURRENT,
        M_TIMEOUT,
        M_POSITION_REACHED,
        M_USER_INTERUPT,
    };

    struct MotorReport
    {
        int8_t motor_id;
        int32_t duration_in_ms;
        motor_stop_reason_t stop_reason;
        std::vector<int> current;
        std::vector<int> position;
    };

    void to_json(nlohmann::json& j, const MotorReport& r) {
        j = nlohmann::json{
            {"motor_id", r.motor_id},
            {"duration[ms]", r.duration_in_ms},
            {"motor_stop_reason", {
                {"motor_stop_id", r.stop_reason}
            }},
            {"current", r.current},
            {"position", r.position}
        };
    }

    void from_json(const nlohmann::json& j, MotorReport& r) {
        r.motor_id = j.at("motor_id");
        r.duration_in_ms = j.at("duration[ms]");
        r.stop_reason = j.at("motor_stop_reason").at("motor_stop_id");
        r.current = j.at("current").get<std::vector<int> >();
        r.position = j.at("position").get<std::vector<int> >();
    }

    struct DimMotorReport
    {
        int32_t motor_id;
        int32_t duration_in_ms;
        int32_t stop_reason;
        int32_t current[100];
        int32_t position[100];

        DimMotorReport(const MotorReport& mr){
            motor_id = mr.motor_id;
            duration_in_ms = mr.duration_in_ms;
            stop_reason = mr.stop_reason;
            // init with -1
            for (size_t i=0; i<100; i++){
                current[i] = -1;
                position[i] = -1;
            }
            for (size_t i=0; i<mr.current.size(); i++){
                current[i] = mr.current[i];
            }
            for (size_t i=0; i<mr.position.size(); i++){
                position[i] = mr.position[i];
            }
        }
    }__attribute__((__packed__));

    namespace State
    {
        enum states_t
        {
            kClosed,
            kClosing,
            kFailClose,
            kOpen,
            kOpening,
            kFailOpen,
            kUnknown,
            kDisconnected,
            kConnected
        };
    }
}

#endif