// Copyright 2025 Enactic, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#pragma once

#include "../openarm_constants.hpp"
#include <chrono>
#include <iostream>
#include <openarm/can/socket/openarm.hpp>
#include <string>
#include <thread>

namespace openarm_init {

class OpenArmInitializer {
public:
  /**
   * @brief Initialize OpenArm with default configuration
   * @param can_device CAN device name (e.g., "can0", "can1")
   * @param enable_debug Enable debug output
   * @return Initialized OpenArm pointer (caller owns memory)
   */
  static openarm::can::socket::OpenArm *
  initialize_openarm(const std::string &can_device, bool enable_debug = true);

  /**
   * @brief Initialize OpenArm with custom motor configuration
   * @param can_device CAN device name
   * @param config Custom motor configuration
   * @param enable_debug Enable debug output
   * @return Initialized OpenArm pointer (caller owns memory)
   */
  static openarm::can::socket::OpenArm *
  initialize_openarm(const std::string &can_device, const MotorConfig &config,
                     bool enable_debug = true);

private:
  /**
   * @brief Common initialization steps for OpenArm
   */
  static void initialize_(openarm::can::socket::OpenArm *openarm,
                          const MotorConfig &config, bool enable_debug);
};

} // namespace openarm_init