#pragma once
#include <vector>
#include "json.hpp"

using json= nlohmann::json;

struct MotorSpeedParam
{
  int finalPeriod;
  int Fmin;
  float stepnum;
  float a;
  float offset;
  float finalDelay;
  float acceleration_time;
};

struct MotorSpeedParamEx
{
  MotorSpeedParam mt_param;
  int speed;
  int colormode;
  int dpi;
  int sp;
};

#ifndef WIN32
#define MT_DRV888_CUO_PATH "/usr/local/huago/drv888_cuo.json"
#define MT_DRV888_ZOU_PATH "/usr/local/huago/drv888_zou.json"
#define MT_TMC216_CUO_PATH "/usr/local/huago/tmc216_cuo.json"
#define MT_TMC216_ZOU_PATH "/usr/local/huago/tmc216_zou.json"
#else
#define MT_DRV888_CUO_PATH "drv888_cuo.json"
#define MT_DRV888_ZOU_PATH "drv888_zou.json"
#define MT_TMC216_CUO_PATH "tmc216_cuo.json"
#define MT_TMC216_ZOU_PATH "tmc216_zou.json"
#endif

class MotorConfig
{
private:
    std::vector<MotorSpeedParamEx> m_cuoParams;
    std::vector<MotorSpeedParamEx> m_zouParams;
    const std::vector<std::string> m_jsonpaths={
        MT_DRV888_CUO_PATH,
        MT_DRV888_ZOU_PATH,
        MT_TMC216_CUO_PATH,
        MT_TMC216_ZOU_PATH
    };

public:
    enum class MTBDType
    {
        MT_TMC,
        MT_DRV
    };
    MotorConfig(/* args */);
    ~MotorConfig();
    std::string GetParams(bool bzouzhi,MTBDType mttype);
    void SetParams(bool bzouzhi,MTBDType mttype,MotorSpeedParamEx& param);
    std::vector<MotorSpeedParamEx> GetMotorSpeedParams(bool bzouzhi,MTBDType mttype);
    std::vector<MotorSpeedParamEx> GetMotorSpeedParams(const std::string& json_str);
private:
    void initconfigfile();
    void to_json(MotorSpeedParamEx& param,json& j);
    void from_json(json& j,MotorSpeedParamEx& param);
};