package com.neuronrobotics.bowlerkernel.kinematics.limb.link.model

import arrow.*
import arrow.core.*
import helios.core.*
import helios.instances.*
import helios.typeclasses.*
import helios.syntax.json.*
import arrow.core.extensions.either.applicative.applicative

fun LinkConfigurationData.toJson(): Json = JsObject(mapOf(
"dhParamData" to com.neuronrobotics.bowlerkernel.kinematics.limb.model.DhParamData.encoder().run { dhParamData.encode() }
,
"type" to com.neuronrobotics.bowlerkernel.kinematics.limb.link.LinkType.encoder().run { type.encode() }
))

fun Json.Companion.toLinkConfigurationData(value: Json): Either<DecodingError, LinkConfigurationData> =
  Either.applicative<DecodingError>().map(
	value["dhParamData"].fold({Either.Left(KeyNotFound("dhParamData"))}, { com.neuronrobotics.bowlerkernel.kinematics.limb.model.DhParamData.decoder().run { decode(it) } }),
	value["type"].fold({Either.Left(KeyNotFound("type"))}, { com.neuronrobotics.bowlerkernel.kinematics.limb.link.LinkType.decoder().run { decode(it) } })
,  { (dhParamData,type) ->
  LinkConfigurationData(dhParamData = dhParamData,type = type)
}).fix()



fun LinkConfigurationData.Companion.encoder() = object : Encoder<LinkConfigurationData> {
  override fun LinkConfigurationData.encode(): Json = this.toJson()
}

fun LinkConfigurationData.Companion.decoder() = object : Decoder<LinkConfigurationData> {
  override fun decode(value: Json): Either<DecodingError, LinkConfigurationData> =
    Json.toLinkConfigurationData(value)
}