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

#ifndef seleneGuideController_H
#define seleneGuideController_H
#include "seleneAngleAxis.h"
#include "seleneLiftAxis.h"
#include "seleneOffsetAxis.h"
#include "turboPmacController.h"

class seleneGuideController : public turboPmacController {

  public:
    /**
     * @brief Construct a new seleneGuideController object
     *
     * This controller object can handle both "normal" TurboPMAC axes created
    with the turboPmacAxis constructor as well as one or multiple selene axis
    assemblies consisting of offset axes, lift axis and angle axis.
     *
     * @param portName            See turboPmacController constructor
     * @param ipPortConfigName    See turboPmacController constructor
     * @param numAxes             See turboPmacController constructor
     * @param movingPollPeriod    See turboPmacController constructor
     * @param idlePollPeriod      See turboPmacController constructor
     * @param comTimeout          See turboPmacController constructor
     */
    seleneGuideController(const char *portName, const char *ipPortConfigName,
                          int numAxes, double movingPollPeriod,
                          double idlePollPeriod, double comTimeout);

    /**
     * @brief Overloaded function of turboPmacController
     *
     * @param pasynUser           Specify the axis via the asynUser
     * @param value               New value
     * @return asynStatus
     */
    asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);

    // Accessors for the indices of the additional PVs
    int motorAbsolutePositionRBV() { return motorAbsolutePositionRBV_; }
    int normalize() { return normalize_; }

  private:
    // Indices of additional PVs
#define FIRST_seleneGuide_PARAM motorAbsolutePositionRBV_
    int motorAbsolutePositionRBV_;
    int normalize_;
#define LAST_seleneGuide_PARAM normalize_
};
#define NUM_seleneGuide_DRIVER_PARAMS                                          \
    (&LAST_seleneGuide_PARAM - &FIRST_seleneGuide_PARAM + 1)

#endif /* seleneGuideController_H */