/*
FILENAME...   EL734Driver.h
USAGE...      Motor driver support for the PSI EL734 controller.

Mark Koennecke
February 2013

*/

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

#define MAX_EL734_AXES 12
#define COMLEN 80

class EL734Axis : public SINQAxis
{
public:
  /* These are the methods we override from the base class */
  EL734Axis(class EL734Controller *pC, int axis);
  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);

private:
  EL734Controller *pC_;          /**< Pointer to the asynMotorController to which this axis belongs.
                                   *   Abbreviated because it is used very frequently */
  int oredMSR;
  double position;
  int homing;
  time_t next_poll;
  int errorReported;
  
friend class EL734Controller;
};

class EL734Controller : public SINQController {
public:
  EL734Controller(const char *portName, const char *EL734PortName, int numAxes);

  void report(FILE *fp, int level);
  EL734Axis* getAxis(asynUser *pasynUser);
  EL734Axis* getAxis(int axisNo);

friend class EL734Axis;
 private:
 asynUser *pasynUserController_;

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

 void switchRemote();

};