/********************************************
 *  detectorTowerController.h
 *
 * Detector tower controller driver based on the asynMotorController class
 *
 * Stefan Mathis, September 2024
 ********************************************/

#ifndef detectorTowerController_H
#define detectorTowerController_H
#include "detectorTowerAxis.h"
#include "turboPmacController.h"

class detectorTowerController : public turboPmacController {

  public:
    /**
     * @brief Construct a new detectorTowerController object
     *
     * This controller object can handle both "normal" TurboPMAC axes created
    with the turboPmacAxis constructor and the special detectorTowerAxis.
     *
     * @param portName            See sinqController constructor
     * @param ipPortConfigName    See sinqController constructor
     * @param numAxes             See sinqController constructor
     * @param movingPollPeriod    See sinqController constructor
     * @param idlePollPeriod      See sinqController constructor
     * @param comTimeout          When trying to communicate with the device,
    the underlying asynOctetSyncIO interface waits for a response until this
    time (in seconds) has passed, then it declares a timeout.
     */
    detectorTowerController(const char *portName, const char *ipPortConfigName,
                            int numAxes, double movingPollPeriod,
                            double idlePollPeriod, double comTimeout);

    /**
     * @brief Overloaded function of turboPmacController
     *
     * The function is overloaded in order to read motorCanDisable_
     *
     * @param pasynUser
     * @param value
     * @return asynStatus
     */
    asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);

    /**
     * @brief Overloaded function of turboPmacController
     *
     * The function is overloaded to allow resetting an error.
     *
     * @param pasynUser           Specify the axis via the asynUser
     * @param value               New value
     * @return asynStatus
     */
    asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);

    /**
     * @brief Overloaded function of turboPmacController
     *
     * The function is overloaded to immediate start of an offset movement
     *
     * @param pasynUser           Specify the axis via the asynUser
     * @param value               New value
     * @return asynStatus
     */
    asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);

    /**
     * @brief Get the axis object
     *
     * @param pasynUser           Specify the axis via the asynUser
     * @return detectorTowerAxis*        If no axis could be found, this is a
     * nullptr
     */
    detectorTowerAxis *getDetectorTowerAxis(asynUser *pasynUser);

    /**
     * @brief Get the axis object
     *
     * @param axisNo              Specify the axis via its index
     * @return detectorTowerAxis*        If no axis could be found, this is a
     * nullptr
     */
    detectorTowerAxis *getDetectorTowerAxis(int axisNo);

  private:
    // Indices of additional PVs
#define FIRST_detectorTower_PARAM liftOffset_
    int liftOffset_;
    int liftOffsetMove_;
    int liftOffsetLowLimit_;
    int liftOffsetHighLimit_;
    int tiltOffset_;
    int tiltOffsetMove_;
    int tiltOffsetLowLimit_;
    int tiltOffsetHighLimit_;
    int beamAngle_;
    int positionState_;
    int start_;
    int moveToWorkingPosition_;
    int resetError_;
#define LAST_detectorTower_PARAM resetError_

    friend class detectorTowerAxis;
};
#define NUM_detectorTower_DRIVER_PARAMS                                        \
    (&LAST_detectorTower_PARAM - &FIRST_detectorTower_PARAM + 1)

#endif /* detectorTowerController_H */