#ifndef pmacV3AXIS_H
#define pmacV3AXIS_H
#include "asynMotorAxis.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 newPmacV3Controller;

class newPmacV3Axis : public asynMotorAxis {
  public:
    /* These are the methods we override from the base class */
    newPmacV3Axis(newPmacV3Controller *pController, int axisNo);
    virtual ~newPmacV3Axis();
    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:
    newPmacV3Controller *pC_;

    void checkBounds(newPmacV3Controller *pController, int axisNo);
    asynStatus readConfig();
    bool initial_poll_;
    time_t time_at_init_poll_;
    time_t timeout_param_lib_init_;

  private:
    friend class newPmacV3Controller;
};

#endif