#pragma once

#include <Arduino.h>
#include <AccelStepper.h>
#include "config/ConfigManager.h"

enum class MotorState {
  Idle,
  Moving,
  Continuous,
  LimitLeft,
  LimitRight,
  Error
};

class StepperController {
 public:
  StepperController();
  void begin(const MotorConfig& config);
  void update();
  void moveLeftRotations(float rotations);
  void moveRightRotations(float rotations);
  void continuousLeft();
  void continuousRight();
  void stop();
  void emergencyStop();
  void setSpeed(float maxSpeed);
  void setAcceleration(float acceleration);
  void setLimits(bool enabled, bool leftTriggered, bool rightTriggered);
  bool isMoving() const;
  long position();
  MotorState state() const;
  const char* stateName() const;

 private:
  bool directionAllowed(int direction) const;
  void applyLimitState();
  long rotationsToSteps(float rotations) const;

  AccelStepper stepper_;
  long stepsPerRevolution_ = 4096;
  float maxSpeed_ = 500.0f;
  bool reverseDirection_ = false;
  bool holdPosition_ = false;
  bool limitsEnabled_ = false;
  bool leftLimit_ = false;
  bool rightLimit_ = false;
  MotorState state_ = MotorState::Idle;
};