// Motor_8134.h: interface for the CMotor_8134 class.
//
//////////////////////////////////////////////////////////////////////
#pragma once

#include "MotorAdlinkBase.h"

class CMotor_8134 : public CMotorAdlinkBase
{
public:
    CMotor_8134(const CMtrProfile& mtrProfile, double* dpPos, CMotionControllerBase* pBaseController);
    virtual ~CMotor_8134();

    // **************************************************************
    // Methods declaration
    // **************************************************************

    // method to close the axis
    void CloseAxis() override;

    // method to initialize and configure the axis
    void ConstructMotor() override;

    //  method to On/Off motor
    bool OnMotor() override;
    bool OffMotor() override;

    //  method to stop motor with decceleration
    bool DecelStop() override;

    //  method to trigger Emergency stop the motor
    bool EmergStop() override;

    // method to get commanded position
    bool GetMotorCommandedPosition(int iMtrNo, double& dRaw) override;

    // method to get other motor axis IO status
    int GetMotionIOStatus(const CMtrProfile& mtrProfile) override;

    // method to get Other axis motor ready status
    BOOL IsMotorReady(const CMtrProfile& mtrProfile) override;

    // method to get Other axis Motor On status
    bool IsMtrOn(const CMtrProfile& mtrProfile) override;

    // method to get other motor axis current position
    bool GetMotorPosition(const CMtrProfile& mtrProfile, double& dRawPosition) override;

    // method to get motor axis current position error
    bool GetMotorPositionError(double& dRawPositionError) override;

    // method to do homing by limit sensor
    //    BOOL HomingByLimit() override;

    // method to process interrupt to decode what happen to the motor
    void ProcessInt(int nIntCode = 0) override;

    // method to set the commanded position register
    bool SetMotorCommandedPosition(double dPosition) override;

    // method to set the mechanical coversion factor
    bool RefreshMotorConversionFactor() override;

    // method to set homing modes
    bool SetMotorHomeMode(int iHomeMode) override;

    // method to force set the current position
    bool SetMotorPosition(double dPosition) override;

    bool SetupAbsoluteSimultaneousMove(int nNoOfAxis, short* sAxis, double* dPosition, double* dStartVel, double* dMaxVel, double* dAcc, double* dDec) override;
    bool SetupRelativeSimultaneousMove(int nNoOfAxis, short* sAxis, double* dPosition, double* dStartVel, double* dMaxVel, double* dAcc, double* dDec) override;
    bool StartSimultaneousMove(const std::vector<short>& vecAxis) override;
    bool StopSimultaneousMove(int nFirstAxisNo) override;

    // **************************************************************
    // Methods declaration applicable to
    // ADLINK 8134, 8164 ONLY - starts
    // **************************************************************
    // method to set the motor type and encoder input type
    bool SetMotorType(int iMtrType) override;

    // method to set the motor alarm signal logic
    bool SetMotorAlarmLogic(int iALM) override;

    // method to set the home sensor signal logic
    bool SetMotorHomeSensorLogic(int iORGI) override;

    // method to set the encoder Index signal logic
    bool SetMotorIndexLogic(int iIndexLogic) override;

    // method to set the in position signal logic
    bool SetMotorINPLogic(int iINP) override;

    // method to set clk type, out/dir or cw/ccw
    bool SetMotorClk(int iClk) override;

    bool StartHomeMove(double dStartSpeed, double dMaxSpeed, double dAcc) override;

    bool StartContinuousMove(double dStartSpeed, double dMaxSpeed, double dAcc) override;

    bool StartSContinuousMove(double dStartSpeed, double dMaxSpeed, double dAcc, double dSAcc) override;

    bool StartAbsoluteMove(double dPosition, double dStartSpeed, double dMaxSpeed, double dAcc, double dDec) override;

    bool StartSAbsoluteMove(double dPosition, double dStartSpeed, double dMaxSpeed, double dAcc, double dDec, double dSAcc, double dSDec) override;

    bool StartRelativeMove(double dPosition, double dStartSpeed, double dMaxSpeed, double dAcc, double dDec) override;

    bool StartSRelativeMove(double dPosition, double dStartSpeed, double dMaxSpeed, double dAcc, double dDec, double dSAcc, double dSDec) override;

    bool SetFixSpdRange(double dMaxVel, bool bRealWorldUnit = false);
    bool UnFixSpdRange();

    bool ResetMotorPositionError();

    bool IsSimultaneousMoveSupported(void) override;

    // LERP - Linear Interpolation
    bool StartXYRelMoveLinear(double dDistX, double dDistY, double dStartVel, double dMaxVel, double dAcc, double dDec) override;
    bool StartZURelMoveLinear(double dDistZ, double dDistU, double dStartVel, double dMaxVel, double dAcc, double dDec) override;
    bool StartXYSRelMoveLinear(double dDistX, double dDistY, double dStartVel, double dMaxVel, double dAcc, double dDec, double dSAcc, double dSDec) override;
    bool StartZUSRelMoveLinear(double dDistZ, double dDistU, double dStartVel, double dMaxVel, double dAcc, double dDec, double dSAcc, double dSDec) override;

    // **************************************************************
    // Methods declaration applicable to
    // ADLINK 8134, 8164 ONLY - ends
    // **************************************************************

private:
    short m_sMtrNo;

    bool FindLimit(HOME_DIR homeDir, MOTION_SPEED speed);

    bool EnableLimitInterrupt();

    bool DisableLimitInterrupt();

    bool GetCurrentPosition(int nMtrNo, double& dPosition);

    bool GetCurrentPosition(double& dPosition);

    bool SetHomingResetPosition(bool bEnable);
};