#ifndef C804Axis_H
#define C804Axis_H

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

// Forward declaration of the controller class to resolve the cyclic dependency
// between C804Controller.h and C804Axis.h. See https://en.cppreference.com/w/cpp/language/class.
class C804Controller;

class C804Axis : public SINQAxis
{
public:
  /* These are the methods we override from the base class */
  C804Axis(C804Controller *pController, int axisNo);
  virtual ~C804Axis();
  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 stop(double acceleration);
  asynStatus home(double minVelocity, double maxVelocity, double acceleration, int forwards);
  asynStatus poll(bool *moving);
  asynStatus poll_no_param_lib_update(bool *moving);
  asynStatus enable(int on);

protected:
  C804Controller *pC_;

  void checkBounds(C804Controller *pController, int axisNo);
  int last_position_steps_;
  double motorRecResolution_;
  time_t estimatedArrivalTime_;
  time_t last_poll_;
  int errorReported_;
  bool enabled_;

private:
  friend class C804Controller;
};

#endif