#ifndef seleneAngleAxis_H
#define seleneAngleAxis_H
#include "turboPmacAxis.h"

// Forward declaration of the seleneLiftAxis class to resolve the cyclic
// dependency between the seleneLiftAxis and the seleneAngleAxis .h-file.
// See https://en.cppreference.com/w/cpp/language/class.
class seleneLiftAxis;

// Forward declaration of the seleneGuideController class to resolve the cyclic
// dependency. See https://en.cppreference.com/w/cpp/language/class.
class seleneGuideController;

/**
 * @brief Virtual axis for setting the angle of the Selene guide
 *
 * Please see README.md for a detailed explanation.
 */
class seleneAngleAxis : public turboPmacAxis {
  public:
    /**
     * @brief Construct a new seleneAngleAxis.
     *
     * This function should not be called directly. Instead use the constructor
     * of seleneLiftAxis, which creates a seleneAngleAxis and stores a pointer
     * to it.
     *
     * @param pController         Pointer to the associated controller
     * @param axisNo              Index of the axis
     * @param liftAxis            Pointer to the associated lift axis
     */
    seleneAngleAxis(seleneGuideController *pController, int axisNo,
                    seleneLiftAxis *liftAxis);

    virtual ~seleneAngleAxis();

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

    /**
     * @brief Rotate the guide around its current lift center to the specified
     * position.
     *
     * @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 Implementation of the `doPoll` function from sinqAxis.
     *
     * Some paramLib entries of this axis are set in the `doPoll` function of
     * `seleneLiftAxis` for convenience (e.g. whether this axis is moving or
     * not).
     *
     * @param moving
     * @return asynStatus
     */
    asynStatus doPoll(bool *moving);

    /**
     * @brief Reset all errors of the underlying physical axes.
     *
     * @param on
     * @return asynStatus
     */
    asynStatus doReset();

    /**
     * @brief This function does nothing, since this axis cannot be enabled /
     * disabled
     *
     * @param on
     * @return asynStatus
     */
    asynStatus enable(bool on);

    /**
     * @brief "Home" the virtual axes by driving all underlying real axes to
     * position 0.
     *
     * @param minVelocity
     * @param maxVelocity
     * @param acceleration
     * @param forwards
     * @return asynStatus
     */
    asynStatus doHome(double minVelocity, double maxVelocity,
                      double acceleration, int forwards);

    /**
     * @brief Override of the superclass method
     *
     * @return double
     */
    double targetPosition();

    /**
     * @brief Set the offsets of axis 3 and 4 to zero and recalculate all other
     * axes positions based on it.
     *
     * Calling this function "normalizes" the lift axis, the angle axis and the
     * offset axes by performing a "normalization" operation. For details, see
     * README.md. This function does not communicate with the controller.
     *
     * @return asynStatus
     */
    asynStatus normalizePositions();

    /**
     * @brief Write the encoder type in the corresponding PV
     *
     * Since this axis is a virtual one, it does not have an encoder. In order
     * to enable reference drives (which in case of this axis simply sets all
     * physical axes to their respective physical position zero), this function
     * sets the encoder type to "Incremental Encoder".
     *
     * @return asynStatus
     */
    asynStatus readEncoderType();

    /**
     * @brief This function does nothing, since this axis does not have an
     * encoder.
     *
     * @return asynStatus
     */
    asynStatus rereadEncoder() { return asynSuccess; }

  protected:
    seleneGuideController *pC_;
    seleneLiftAxis *liftAxis_;

  private:
    // True, if a target has been set for this axis
    bool targetSet_;
};

#endif