#ifndef seleneLiftAxis_H
#define seleneLiftAxis_H
#include "seleneAngleAxis.h"
#include "turboPmacAxis.h"
#include "turboPmacController.h"

/**
 * @brief Virtual axis for setting the height of the center of a Selene guide
 *
 * This axis acts as the "master" for a partnering seleneAngleAxis (i.e. it
 * controls the movement and polls the physical motors)
 */
class seleneLiftAxis : public turboPmacAxis {
  public:
    seleneLiftAxis(turboPmacController *pController, int liftAxisNo,
                   int angleAxisNo, int realAxis1No, int realAxis2No);

    /**
     * @brief Destroy the seleneLiftAxis
     *
     */
    virtual ~seleneLiftAxis();

    /**
     * @brief Implementation of the `stop` function from asynMotorAxis
     *
     * @param acceleration        Acceleration ACCEL from the motor record. This
     * value is currently not used.
     * @return asynStatus
     */
    asynStatus stop(double acceleration);

    /**
     * @brief Implementation of the `doPoll` function from sinqAxis. The
     * parameters are described in the documentation of `sinqAxis::doPoll`.
     *
     * @param moving
     * @return asynStatus
     */
    asynStatus doPoll(bool *moving);

    /**
     * @brief Set the target value for the detector angle and trigger a position
     * collection cycle
     *
     * @param position
     * @param relative
     * @param min_velocity
     * @param maxOffset_velocity
     * @param acceleration
     * @return asynStatus
     */
    asynStatus doMove(double position, int relative, double min_velocity,
                      double maxOffset_velocity, double acceleration);

    /**
     * @brief Start a movement to the target positions of this axis and the
     * attached seleneAngleAxis.
     *
     * @return asynStatus
     */
    asynStatus startCombinedMove();

    /**
     * @brief Readout of some values from the controller at IOC startup
     *
     * The following steps are performed:
     * - Read out the motor status, motor position, velocity and acceleration
     * from the MCU and store this information in the parameter library.
     * - Set the enable PV according to the initial status of the axis.
     *
     * @return asynStatus
     */
    asynStatus init();

    /**
     * @brief Reset the error(s) of both physical motors
     *
     * @param on
     * @return asynStatus
     */
    asynStatus reset();

    /**
     * @brief Enable / disable both physical motors
     *
     * @param on
     * @return asynStatus
     */
    asynStatus enable(bool on);

    /**
     * @brief Override of the home function of asynMotorAxis, which does nothing
     *
     * @param on
     * @return asynStatus
     */
    asynStatus home(double min_velocity, double maxOffset_velocity,
                    double acceleration, int forwards) {
        return asynSuccess;
    }

    /**
     * @brief The encoder of both physical motors is absolute, hence the encoder
     * of the virtual axis is also absolute
     *
     * @return asynStatus
     */
    asynStatus readEncoderType();

    /**
     * @brief Trigger a rereading of the encoder position of both physical
     * motors
     *
     * @return asynStatus
     */
    asynStatus rereadEncoder();

    // TODO
    asynStatus normalizeOffsets();

    /**
     * @brief Calculate the
     *
     * @param lift
     * @param angle
     * @return asynStatus
     */
    double[6] calculateMotorPositions(double lift, double angle);

  protected:
    static const int numAxes_ = 6;

    turboPmacController *pC_;
    seleneAngleAxis *angleAxis_;
    turboPmacAxis axes_[numAxes_];

    // Horizontal distance from the first axis in mm (which is located at 0 mm)
    double xOffset_[numAxes_];

    // Vertical distance from the first axis in mm (which is located at 0 mm)
    double zOffset_[numAxes_];

    double xLift_ = 0.0;
};

#endif