/*
FILENAME...   PhytronDriver.h
USAGE...      Motor driver support for the Phytron MCC-2 motor controller.

Mark Koennecke
September 2016


Updated to go through SINQAxis for -MsgTxt support
Added a selector to support multiple phytrons on a connection

Mark Koennecke, January 2019

Added PhytronDoseAxis. The speed of this axis is controlled by the
neutron dose rate fed in as analog signal

Mark Koennecke, April 2023
*/

#include "SINQController.h"
#include "SINQAxis.h"

#define COMLEN 80


class PhytronController;
class PhytronDoseController;

class PhytronAxis : public SINQAxis
{
public:
  /* These are the methods we override from the base class */
  PhytronAxis(class PhytronController *pC, int axis, int enc);
  void report(FILE *fp, int level);
  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
  asynStatus stop(double acceleration);
  asynStatus poll(bool *moving);
  asynStatus setPosition(double position);
  asynStatus setClosedLoop(bool closedLoop);
  int setBrake(int brakeIO);

protected:
  char phytronChar;
  PhytronController *pC_;          /**< Pointer to the asynMotorController to which this axis belongs.
                                   *   Abbreviated because it is used very frequently */
  double position;
  int homing;
  int homing_direction; /*1 forward, 0 backwards */
  time_t next_poll;
  int encoder;
  int haveBrake;
  int brakeIO;
  
friend class PhytronController;
};

class PhytronDoseAxis : public PhytronAxis
{
// A special version of PhytronAxis where the speed is controlled by the neutron flux.
public:
  PhytronDoseAxis(class PhytronController *pC, int axis, int enc);
  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);

friend class PhytronDoseController; 

protected:
char doseChar; 
PhytronDoseController *pC_;
};


class PhytronController : public SINQController {
public:
  PhytronController(const char *portName, const char *PhytronPortName, const char *selector, 
		    int encX, int encY);

  void report(FILE *fp, int level);
  PhytronAxis* getAxis(asynUser *pasynUser);
  PhytronAxis* getAxis(int axisNo);

friend class PhytronAxis;

 protected:
 asynUser *pasynUserController_;

 asynStatus transactController(int axisNo, char command[COMLEN], char reply[COMLEN]);

 const char *selector;

};

class PhytronDoseController : public PhytronController {
public:
  PhytronDoseController(const char *portName, const char *PhytronPortName, const char *selector, 
		    int encX, int encY);

  PhytronDoseAxis* getAxis(asynUser *pasynUser);
  PhytronDoseAxis* getAxis(int axisNo);

friend class PhytronDoseAxis;

 protected:
 asynUser *pasynUserController_;
 const char *selector;

};