/*
    SPDX-FileCopyrightText: 2023 Wolfgang Reissenberger <sterne-jaeger@openfuture.de>

    SPDX-License-Identifier: GPL-2.0-or-later
*/

#pragma once

#include "schedulertypes.h"
#include "schedulerjob.h"
#include "ekos/auxiliary/modulelogger.h"
#include "ekos/align/align.h"
#include "ekos/auxiliary/solverutils.h"
#include "indi/indiweather.h"
#include "dms.h"

#include <QObject>
#include <QPointer>
#include <QtDBus/QDBusInterface>
#include <QProcess>

namespace Ekos
{

class GreedyScheduler;
class SchedulerModuleState;

/**
 * @class SchedulerProcess
 * @brief The SchedulerProcess class holds the entire business logic for controlling the
 * execution of the EKOS scheduler.
 */
class SchedulerProcess : public QObject, public ModuleLogger
{
        Q_OBJECT
        Q_CLASSINFO("D-Bus Interface", "org.kde.kstars.Ekos.Scheduler")
        Q_PROPERTY(Ekos::SchedulerState status READ status NOTIFY newStatus)
        Q_PROPERTY(QString profile READ profile WRITE setProfile)
        Q_PROPERTY(QString currentJobName READ currentJobName)
        Q_PROPERTY(QString currentJobJson READ currentJobJson)
        Q_PROPERTY(QString jsonJobs READ jsonJobs)
        Q_PROPERTY(QStringList logText READ logText NOTIFY newLog)

    public:
        SchedulerProcess(QSharedPointer<SchedulerModuleState> state, const QString &ekosPathStr, const QString &ekosInterfaceStr);


        // ////////////////////////////////////////////////////////////////////
        // external DBUS interface
        // ////////////////////////////////////////////////////////////////////

        SchedulerState status();

        // ////////////////////////////////////////////////////////////////////
        // process steps
        // ////////////////////////////////////////////////////////////////////

        /**
         * @brief execute Execute the schedule, start if idle or paused.
         */
        Q_SCRIPTABLE void execute();

        /**
         * @brief findNextJob Check if the job met the completion criteria, and if it did, then it search for next job candidate.
         *  If no jobs are found, it starts the shutdown stage.
         */
        void findNextJob();

        /**
         * @brief stopCurrentJobAction Stop whatever action taking place in the current job (eg. capture, guiding...etc).
         */
        Q_SCRIPTABLE void stopCurrentJobAction();

        /**
          * @brief executeJob After the best job is selected, we call this in order to start the process that will execute the job.
          * checkJobStatus slot will be connected in order to figure the exact state of the current job each second
          * @return True if job is accepted and can be executed, false otherwise.
          */
        bool executeJob(SchedulerJob *job);

        /**
         * @brief wakeUpScheduler Wake up scheduler from sleep state
         */
        Q_SCRIPTABLE void wakeUpScheduler();

        /** DBUS interface function.
         * @brief Setup the main loop and start.
         */
        Q_SCRIPTABLE Q_NOREPLY void start();

        /** DBUS interface function.
         * @brief stop Stop the scheduler execution. If stopping succeeded,
         * a {@see #schedulerStopped()} signal is emitted
         */
        Q_SCRIPTABLE Q_NOREPLY void stop();

        /** DBUS interface function.
         * @brief Remove all scheduler jobs
         */
        Q_SCRIPTABLE Q_NOREPLY void removeAllJobs();

        /** DBUS interface function.
         * @brief Loads the Ekos Scheduler List (.esl) file.
         * @param fileURL path to a file
         * @return true if loading file is successful, false otherwise.
         */
        Q_SCRIPTABLE bool loadScheduler(const QString &fileURL);

        /** DBUS interface function.
         * @brief Set the file URL pointing to the capture sequence file
         * @param sequenceFileURL URL of the capture sequence file
         */
        Q_SCRIPTABLE Q_NOREPLY void setSequence(const QString &sequenceFileURL);

        /** DBUS interface function.
         * @brief Resets all jobs to IDLE
         */
        Q_SCRIPTABLE Q_NOREPLY void resetAllJobs();

        /**
         * @brief shouldSchedulerSleep Check if the scheduler needs to sleep until the job is ready
         * @param job Job to check
         * @return True if we set the scheduler to sleep mode. False, if not required and we need to execute now
         */
        bool shouldSchedulerSleep(SchedulerJob *job);

        /**
         * @brief mountCoords read the equatorial coordinates from the mount
         * @return {RA, DEC}
         */
        SkyPoint mountCoords();

        /**
         * @brief startSlew DBus call for initiating slew
         */
        Q_SCRIPTABLE Q_NOREPLY void startSlew();

        /**
         * @brief startFocusing DBus call for feeding ekos the specified settings and initiating focus operation
         */
        Q_SCRIPTABLE Q_NOREPLY void startFocusing();

        /**
         * @brief startAstrometry initiation of the capture and solve operation. We change the job state
         * after solver is started
         */
        Q_SCRIPTABLE Q_NOREPLY void startAstrometry();

        /**
         * @brief startGuiding After ekos is fed the calibration options, we start the guiding process
         * @param resetCalibration By default calibration is not reset until it is explicitly requested
         */
        Q_SCRIPTABLE Q_NOREPLY void startGuiding(bool resetCalibration = false);

        /**
         * @brief stopGuiding After guiding is done we need to stop the process
         */
        Q_SCRIPTABLE Q_NOREPLY void stopGuiding();

        /**
         * @brief processGuidingTimer Check the guiding timer, and possibly restart guiding.
         */
        void processGuidingTimer();

        /**
         * @brief startCapture The current job file name is solved to an url which is fed to ekos. We then start the capture process
         * @param restart Set to true if the goal to restart an existing sequence. The only difference is that when a sequence is restarted, sequence file
         * is not loaded from disk again since that results in erasing all the history of the capture process.
         */
        Q_SCRIPTABLE Q_NOREPLY void startCapture(bool restart = false);

        void startSingleCapture(SchedulerJob *job, bool restart = false);

        /**
         * @brief updateCompletedJobsCount For each scheduler job, examine sequence job storage and count captures.
         * @param forced forces recounting captures unconditionally if true, else only IDLE, EVALUATION or new jobs are examined.
         */
        void updateCompletedJobsCount(bool forced = false);

        /**
         * @brief setSolverAction set the GOTO mode for the solver
         * @param mode 0 For Sync, 1 for SlewToTarget, 2 for Nothing
         */
        void setSolverAction(Align::GotoMode mode);

        /**
         * @brief loadProfiles Load the existing EKOS profiles
         */
        void loadProfiles();

        /**
         * @brief checkEkosState Check ekos startup stages and take whatever action necessary to get Ekos up and running
         * @return True if Ekos is running, false if Ekos start up is in progress.
         */
        bool checkEkosState();

        /**
         * @brief checkINDIState Check INDI startup stages and take whatever action necessary to get INDI devices connected.
         * @return True if INDI devices are connected, false if it is under progress.
         */
        bool checkINDIState();

        /**
         * @brief completeShutdown Try to complete the scheduler shutdown
         * @return false iff some further action is required
         */
        Q_SCRIPTABLE bool completeShutdown();

        /**
         * @brief disconnectINDI disconnect all INDI devices from server.
         */
        Q_SCRIPTABLE Q_NOREPLY void disconnectINDI();

        /**
         * @brief manageConnectionLoss Mitigate loss of connection with the INDI server.
         * @return true if connection to Ekos/INDI should be attempted again, false if not mitigation is available or needed.
         */
        bool manageConnectionLoss();

        /**
         * @brief checkDomeParkingStatus check dome parking status and updating corresponding states accordingly.
         */
        void checkCapParkingStatus();

        /**
         * @brief checkStartupState Check startup procedure stages and make sure all stages are complete.
         * @return True if startup is complete, false otherwise.
         */
        bool checkStartupState();
        /**
         * @brief checkShutdownState Check shutdown procedure stages and make sure all stages are complete.
         * @return
         */
        bool checkShutdownState();

        /**
         * @brief checkParkWaitState Check park wait state.
         * @return If parking/unparking in progress, return false. If parking/unparking complete, return true.
         */
        Q_SCRIPTABLE bool checkParkWaitState();

        /**
         * @brief runStartupProcedure Execute the startup of the scheduler itself to be prepared
         * for running scheduler jobs.
         */
        Q_SCRIPTABLE Q_NOREPLY void runStartupProcedure();

        /**
         * @brief runShutdownProcedure Shutdown the scheduler itself and EKOS (if configured to do so).
         */
        Q_SCRIPTABLE Q_NOREPLY void runShutdownProcedure();

        /**
         * @brief setPaused pausing the scheduler
         */
        Q_SCRIPTABLE Q_NOREPLY void setPaused();

        /**
         * @brief resetJobs Reset all jobs counters
         */
        Q_SCRIPTABLE Q_NOREPLY void resetJobs();

        /**
         * @brief selectActiveJob Select the job that should be executed
         */
        void selectActiveJob(const QList<SchedulerJob *> &jobs);

        /**
         * @brief startJobEvaluation Start job evaluation only without starting the scheduler process itself. Display the result to the user.
         */
        Q_SCRIPTABLE Q_NOREPLY void startJobEvaluation();

        /**
         * @brief evaluateJobs evaluates the current state of each objects and gives each one a score based on the constraints.
         * Given that score, the scheduler will decide which is the best job that needs to be executed.
         */
        Q_SCRIPTABLE Q_NOREPLY void evaluateJobs(bool evaluateOnly);

        /**
         * @brief checkJobStatus Check the overall state of the scheduler, Ekos, and INDI. When all is OK, it calls evaluateJobs() when no job is current or executeJob() if a job is selected.
         * @return False if this function needs to be called again later, true if situation is stable and operations may continue.
         */
        bool checkStatus();

        /**
         * @brief getNextAction Checking for the next appropriate action regarding the current state of the scheduler  and execute it
         */
        void getNextAction();

        /**
         * @brief Repeatedly runs a scheduler iteration and then sleeps timerInterval millisconds
         * and run the next iteration. This continues until the sleep time is negative.
         */
        void iterate();

        /**
         * @brief Run a single scheduler iteration.
         */
        int runSchedulerIteration();

        /**
         * @brief checkJobStage Check the progress of the job states and make DBUS calls to start the next stage until the job is complete.
         */
        void checkJobStage();
        void checkJobStageEpilogue();

        /**
         * @brief applyConfig Apply configuration changes from the global configuration dialog.
         */
        void applyConfig();

        /**
         * @brief saveScheduler Save scheduler jobs to a file
         * @param path path of a file
         * @return true on success, false on failure.
         */
        Q_SCRIPTABLE bool saveScheduler(const QUrl &fileURL);

        /**
         * @brief appendEkosScheduleList Append the contents of an ESL file to the queue.
         * @param fileURL File URL to load contents from.
         * @return True if contents were loaded successfully, else false.
         */
        Q_SCRIPTABLE bool appendEkosScheduleList(const QString &fileURL);

        /**
         * @brief appendLogText Append a new line to the logging.
         */
        Q_SCRIPTABLE Q_NOREPLY void appendLogText(const QString &logentry) override;

        /**
         * @brief clearLog Clear log entry
         */
        Q_SCRIPTABLE void clearLog();

        /**
         * @return True if mount is parked
         */
        Q_SCRIPTABLE bool isMountParked();
        /**
         * @return True if dome is parked
         */
        Q_SCRIPTABLE bool isDomeParked();

        void simClockScaleChanged(float);
        void simClockTimeChanged();

        // ////////////////////////////////////////////////////////////////////
        // state machine and scheduler
        // ////////////////////////////////////////////////////////////////////
        QSharedPointer<SchedulerModuleState> m_moduleState;
        QSharedPointer<SchedulerModuleState> moduleState() const
        {
            return m_moduleState;
        }

        QPointer<Ekos::GreedyScheduler> m_GreedyScheduler;
        QPointer<GreedyScheduler> &getGreedyScheduler()
        {
            return m_GreedyScheduler;
        }

        // ////////////////////////////////////////////////////////////////////
        // DBUS interfaces to devices
        // ////////////////////////////////////////////////////////////////////

        QString focusInterfaceString { "org.kde.kstars.Ekos.Focus" };
        void setFocusInterfaceString(const QString &interface)
        {
            focusInterfaceString = interface;
        }
        QString focusPathString { "/KStars/Ekos/Focus" };
        void setFocusPathString(const QString &interface)
        {
            focusPathString = interface;
        }

        QString mountInterfaceString { "org.kde.kstars.Ekos.Mount" };
        void setMountInterfaceString(const QString &interface)
        {
            mountInterfaceString = interface;
        }
        QString mountPathString { "/KStars/Ekos/Mount" };
        void setMountPathString(const QString &interface)
        {
            mountPathString = interface;
        }

        QString captureInterfaceString { "org.kde.kstars.Ekos.Capture" };
        void setCaptureInterfaceString(const QString &interface)
        {
            captureInterfaceString = interface;
        }
        QString capturePathString { "/KStars/Ekos/Capture" };
        void setCapturePathString(const QString &interface)
        {
            capturePathString = interface;
        }

        QString alignInterfaceString { "org.kde.kstars.Ekos.Align" };
        void setAlignInterfaceString(const QString &interface)
        {
            alignInterfaceString = interface;
        }
        QString alignPathString { "/KStars/Ekos/Align" };
        void setAlignPathString(const QString &interface)
        {
            alignPathString = interface;
        }

        QString guideInterfaceString { "org.kde.kstars.Ekos.Guide" };
        void setGuideInterfaceString(const QString &interface)
        {
            guideInterfaceString = interface;
        }
        QString guidePathString { "/KStars/Ekos/Guide" };
        void setGuidePathString(const QString &interface)
        {
            guidePathString = interface;
        }

        QString observatoryInterfaceString { "org.kde.kstars.Ekos.Observatory" };
        void setObservatoryInterfaceString(const QString &interface)
        {
            observatoryInterfaceString = interface;
        }
        QString observatoryPathString { "/KStars/Ekos/Observatory" };
        void setObservatoryPathString(const QString &interface)
        {
            observatoryPathString = interface;
        }

        QString domeInterfaceString { "org.kde.kstars.INDI.Dome" };
        void setDomeInterfaceString(const QString &interface)
        {
            domeInterfaceString = interface;
        }

        QString domePathString;
        void setDomePathString(const QString &interface)
        {
            domePathString = interface;
        }

        QString weatherInterfaceString { "org.kde.kstars.INDI.Weather" };
        void setWeatherInterfaceString(const QString &interface)
        {
            weatherInterfaceString = interface;
        }
        QString weatherPathString;
        void setWeatherPathString(const QString &interface)
        {
            weatherPathString = interface;
        }

        QString dustCapInterfaceString { "org.kde.kstars.INDI.DustCap" };
        void setDustCapInterfaceString(const QString &interface)
        {
            dustCapInterfaceString = interface;
        }
        QString dustCapPathString;
        void setDustCapPathString(const QString &interface)
        {
            dustCapPathString = interface;
        }

        QPointer<QDBusInterface> ekosInterface() const
        {
            return m_ekosInterface;
        }
        void setEkosInterface(QPointer<QDBusInterface> newInterface)
        {
            m_ekosInterface = newInterface;
        }
        QPointer<QDBusInterface> indiInterface() const
        {
            return m_indiInterface;
        }
        void setIndiInterface(QPointer<QDBusInterface> newInterface)
        {
            m_indiInterface = newInterface;
        }
        QPointer<QDBusInterface> focusInterface() const
        {
            return m_focusInterface;
        }
        void setFocusInterface(QPointer<QDBusInterface> newInterface)
        {
            m_focusInterface = newInterface;
        }
        QPointer<QDBusInterface> captureInterface() const
        {
            return m_captureInterface;
        }
        void setCaptureInterface(QPointer<QDBusInterface> newInterface)
        {
            m_captureInterface = newInterface;
        }
        QPointer<QDBusInterface> mountInterface() const
        {
            return m_mountInterface;
        }
        void setMountInterface(QPointer<QDBusInterface> newInterface)
        {
            m_mountInterface = newInterface;
        }
        QPointer<QDBusInterface> alignInterface() const
        {
            return m_alignInterface;
        }
        void setAlignInterface(QPointer<QDBusInterface> newInterface)
        {
            m_alignInterface = newInterface;
        }
        QPointer<QDBusInterface> guideInterface() const
        {
            return m_guideInterface;
        }
        void setGuideInterface(QPointer<QDBusInterface> newInterface)
        {
            m_guideInterface = newInterface;
        }
        QPointer<QDBusInterface> observatoryInterface() const
        {
            return m_observatoryInterface;
        }
        void setObservatoryInterface(QPointer<QDBusInterface> newInterface)
        {
            m_observatoryInterface = newInterface;
        }
        QPointer<QDBusInterface> domeInterface() const
        {
            return m_domeInterface;
        }
        void setDomeInterface(QPointer<QDBusInterface> newInterface)
        {
            m_domeInterface = newInterface;
        }
        QPointer<QDBusInterface> weatherInterface() const
        {
            return m_weatherInterface;
        }
        void setWeatherInterface(QPointer<QDBusInterface> newInterface)
        {
            m_weatherInterface = newInterface;
        }
        QPointer<QDBusInterface> capInterface() const
        {
            return m_capInterface;
        }
        void setCapInterface(QPointer<QDBusInterface> newInterface)
        {
            m_capInterface = newInterface;
        }

        /**
         * @brief createJobSequence Creates a job sequence for the mosaic tool given the prefix and output dir. The currently selected sequence file is modified
         * and a new version given the supplied parameters are saved to the output directory
         * @param prefix Prefix to set for the job sequence
         * @param outputDir Output dir to set for the job sequence
         * @return True if new file is saved, false otherwise
         */
        bool createJobSequence(XMLEle *root, const QString &prefix, const QString &outputDir);

        /**
         * @brief getSequenceJobRoot Read XML data from capture sequence job
         * @param filename
         * @return
         */
        XMLEle *getSequenceJobRoot(const QString &filename) const;

        /**
         * @brief getGuidingStatus Retrieve the guiding status.
         */
        GuideState getGuidingStatus();

        QProcess &scriptProcess()
        {
            return m_scriptProcess;
        }

        const QString &profile() const;
        void setProfile(const QString &newProfile);

        QString currentJobName();
        QString currentJobJson();
        QString jsonJobs();

        QStringList logText();

    signals:
        // new log text for the module log window
        void newLog(const QString &text);
        // status updates
        void newStatus(SchedulerState state);
        void newWeatherStatus(ISD::Weather::Status state);
        void schedulerStopped();
        void shutdownStarted();
        void schedulerSleeping(bool shutdown, bool sleep);
        void schedulerPaused();
        void changeSleepLabel(QString text, bool show = true);
        // state changes
        void jobsUpdated(QJsonArray jobsList);
        void updateJobTable(SchedulerJob *job = nullptr);
        void clearJobTable();
        void changeCurrentSequence(const QString &sequenceFileURL);
        void interfaceReady(QDBusInterface *iface);
        // loading jobs
        void addJob(SchedulerJob *job);
        void syncGreedyParams();
        void syncGUIToGeneralSettings();
        void updateSchedulerURL(const QString &fileURL);
        // distance in arc-seconds measured by plate solving the a captured image and
        // comparing that position to the target position.
        void targetDistance(double distance);
        // required for Analyze timeline
        void jobStarted(const QString &jobName);
        void jobEnded(const QString &jobName, const QString &endReason);


    private slots:
        void setINDICommunicationStatus(Ekos::CommunicationStatus status);
        void setEkosCommunicationStatus(Ekos::CommunicationStatus status);

        /**
         * Start observatory shutdown procedure due to weather
         */
        void startShutdownDueToWeather();

        /**
         * @brief syncProperties Sync startup properties from the various device to enable/disable features in the scheduler
         * like the ability to park/unpark..etc
         */
        void syncProperties()
        {
            checkInterfaceReady(qobject_cast<QDBusInterface*>(sender()));
        }

        // ////////////////////////////////////////////////////////////////////
        // alignment checks
        // ////////////////////////////////////////////////////////////////////

        /**
         * @brief checkAlignment Handle one sequence image completion. This is used now only to run alignment check
         * to ensure it does not deviation from current scheduler job target.
         * @param metadata Metadata for image including filename, exposure, filter, hfr..etc.
         * @param trainname name of the optical train that has captured the image
         */
        void checkAlignment(const QVariantMap &metadata, const QString &trainname);

        /**
         * @brief solverDone Process solver solution after it is done.
         * @param timedOut True if the process timed out.
         * @param success True if successful, false otherwise.
         * @param solution The solver solution if successful.
         * @param elapsedSeconds How many seconds elapsed to solve the image.
         */
        void solverDone(bool timedOut, bool success, const FITSImage::Solution &solution, double elapsedSeconds);

        /**
         * @brief checkInterfaceReady Sometimes syncProperties() is not sufficient since the ready signal could have fired already
         * and cannot be relied on to know once a module interface is ready. Therefore, we explicitly check if the module interface
         * is ready.
         * @param iface interface to test for readiness.
         */
        void checkInterfaceReady(QDBusInterface *iface);

        /**
         * @brief registerNewModule Register an Ekos module as it arrives via DBus
         * and create the appropriate DBus interface to communicate with it.
         * @param name of module
         */
        void registerNewModule(const QString &name);

        /**
           * @brief registerNewDevice register interfaces associated with devices
           * @param name Device name
           * @param interface Device driver interface
           */
        void registerNewDevice(const QString &name, int interface);

        // ////////////////////////////////////////////////////////////////////
        // device handling
        // ////////////////////////////////////////////////////////////////////
        void setAlignStatus(Ekos::AlignState status);
        void setGuideStatus(Ekos::GuideState status);
        void setCaptureStatus(Ekos::CaptureState status, const QString &trainname);
        void setFocusStatus(Ekos::FocusState status, const QString &trainname);
        void setMountStatus(ISD::Mount::Status status);
        void setWeatherStatus(ISD::Weather::Status status);

    private:
        // When a module is commanded to perform an action, wait this many milliseconds
        // before check its state again. If State is still IDLE, then it either didn't received the command
        // or there is another problem.
        static const uint32_t ALIGN_INACTIVITY_TIMEOUT      = 120000;
        static const uint32_t FOCUS_INACTIVITY_TIMEOUT      = 120000;
        static const uint32_t CAPTURE_INACTIVITY_TIMEOUT    = 120000;
        static const uint16_t GUIDE_INACTIVITY_TIMEOUT      = 60000;
        /// Counter to keep debug logging in check
        uint8_t checkJobStageCounter { 0 };

        // Startup and Shutdown scripts process
        QProcess m_scriptProcess;
        // solver for alignment checks
        QSharedPointer<SolverUtils> m_Solver;

        // mapping train name --> scheduler job
        QMap<QString, SchedulerJob*> m_activeJobs;

        // Shutdown Timer due to weather
        QTimer m_WeatherShutdownTimer;

        // ////////////////////////////////////////////////////////////////////
        // DBUS interfaces
        // ////////////////////////////////////////////////////////////////////
        // Interface strings for the dbus. Changeable for mocks when testing. Private so only tests can change.
        QString schedulerProcessPathString { "/KStars/Ekos/Scheduler" };
        QString kstarsInterfaceString { "org.kde.kstars" };
        // This is only used in the constructor
        QString ekosInterfaceString { "org.kde.kstars.Ekos" };
        QString ekosPathString { "/KStars/Ekos" };
        QString INDIInterfaceString { "org.kde.kstars.INDI" };
        QString INDIPathString {"/KStars/INDI"};
        // DBus interfaces to devices
        QPointer<QDBusInterface> m_ekosInterface { nullptr };
        QPointer<QDBusInterface> m_indiInterface { nullptr };
        QPointer<QDBusInterface> m_focusInterface { nullptr };
        QPointer<QDBusInterface> m_captureInterface { nullptr };
        QPointer<QDBusInterface> m_mountInterface { nullptr };
        QPointer<QDBusInterface> m_alignInterface { nullptr };
        QPointer<QDBusInterface> m_guideInterface { nullptr };
        QPointer<QDBusInterface> m_observatoryInterface { nullptr };
        QPointer<QDBusInterface> m_domeInterface { nullptr };
        QPointer<QDBusInterface> m_weatherInterface { nullptr };
        QPointer<QDBusInterface> m_capInterface { nullptr };
        // ////////////////////////////////////////////////////////////////////
        // process steps
        // ////////////////////////////////////////////////////////////////////

        /**
         * @brief executeScript Execute pre- or post job script
         */
        void executeScript(const QString &filename);

        /**
         * @brief stopEkos shutdown Ekos completely
         */
        void stopEkos();

        /**
         * @brief checkMountParkingStatus check mount parking status and updating corresponding states accordingly.
         */
        void checkMountParkingStatus();

        /**
         * @brief checkDomeParkingStatus check dome parking status and updating corresponding states accordingly.
         */
        void checkDomeParkingStatus();

        /**
         * @brief startFocusing Start focusing on the job
         */
        void startFocusing(SchedulerJob *job);
        // ////////////////////////////////////////////////////////////////////
        // device handling
        // ////////////////////////////////////////////////////////////////////
        /**
         * @brief parkCap Close dust cover
         */
        void parkCap();

        /**
         * @brief unCap Open dust cover
         */
        void unParkCap();

        /**
         * @brief parkMount Park mount
         */
        void parkMount();

        /**
         * @brief unParkMount Unpark mount
         */
        void unParkMount();

        /**
         * @brief parkDome Park dome
         */
        void parkDome();

        /**
         * @brief unParkDome Unpark dome
         */
        void unParkDome();

        // ////////////////////////////////////////////////////////////////////
        // helper functions
        // ////////////////////////////////////////////////////////////////////

        /**
         * @brief checkStartupProcedure restart regularly {@see #checkStartupState()} until completed
         */
        void checkStartupProcedure();

        /**
         * @brief checkShutdownProcedure Check regularly if the shutdown has completed (see
         * {@see #checkShutdownState()}) and stop EKOS if the corresponding configuration flag is set.
         */
        void checkShutdownProcedure();

        /**
         * @brief checkProcessExit Check script process exist status. This is called when the process exists either normally or abnormally.
         * @param exitCode exit code from the script process. Depending on the exist code, the status of startup/shutdown procedure is set accordingly.
         */
        void checkProcessExit(int exitCode);

        /**
         * @brief readProcessOutput read running script process output and display it in Ekos
         */
        void readProcessOutput();

        /**
         * @brief Returns true if the job is storing its captures on the same machine as the scheduler.
         */
        bool canCountCaptures(const SchedulerJob &job);

        /**
         * @brief activeJob Shortcut to the active job held in the state machine
         */
        SchedulerJob *activeJob();

        // Prints all the relative state variables set during an iteration. For debugging.
        void printStates(const QString &label);

        /**
         * @brief Abort capturing
         * @param train train name, if empty abort the master job, otherwise abort this job's capture
         * @param followersOnly if true and train name is empty, do not abort the lead, but all its followers
         */
        void stopCapturing(QString train = "", bool followersOnly = false);
};
} // Ekos namespace
