#ifndef pmacV3AXIS_H
#define pmacV3AXIS_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 pmacV3Controller;

class pmacV3Axis : public sinqAxis {
  public:
    /**
     * @brief Construct a new pmacV3Axis
     *
     * @param pController         Pointer to the associated controller
     * @param axisNo              Index of the axis
     * @param offsetLimit         The high and low limits of the axis are read
     * out directly from the MCU. However, since the axis might slightly
    "overshoot" when moving to a position next to the limits, the MCU might go
    into the "limits hit" error state. To prevent this, this value allows adding
    a small offset, which is  subtracted from the high limit and added to the
    low limit.
     */
    pmacV3Axis(pmacV3Controller *pController, int axisNo, double offsetLimit);

    /**
     * @brief Destroy the pmacV3Axis
     *
     */
    virtual ~pmacV3Axis();

    /**
     * @brief Implementation of the `stop` function from asynMotorAxis
     *
     * @param acceleration        Acceleration ACCEL from the motor record. This
     * value is currently not used.
     * @return asynStatus
     */
    asynStatus stop(double acceleration);

    /**
     * @brief Implementation of the `doHome` function from sinqAxis. The
     * parameters are described in the documentation of `sinqAxis::doHome`.
     *
     * @param minVelocity
     * @param maxVelocity
     * @param acceleration
     * @param forwards
     * @return asynStatus
     */
    asynStatus doHome(double minVelocity, double maxVelocity,
                      double acceleration, int forwards);

    /**
     * @brief Implementation of the `doPoll` function from sinqAxis. The
     * parameters are described in the documentation of `sinqAxis::doPoll`.
     *
     * @param moving
     * @return asynStatus
     */
    asynStatus doPoll(bool *moving);

    /**
     * @brief Implementation of the `doMove` function from sinqAxis. The
     * parameters are described in the documentation of `sinqAxis::doMove`.
     *
     * @param position
     * @param relative
     * @param min_velocity
     * @param max_velocity
     * @param acceleration
     * @return asynStatus
     */
    asynStatus doMove(double position, int relative, double min_velocity,
                      double max_velocity, double acceleration);

    /**
     * @brief Implementation of the `atFirstPoll` function from sinqAxis.
     *
     * The following steps are performed:
     * - Read out the motor status, motor position, velocity and acceleration
     * from the MCU and store this information in the parameter library.
     * - Set the enable PV accordint to the initial status of the axis.
     *
     * @return asynStatus
     */
    asynStatus atFirstPoll();

    /**
     * @brief Enable / disable the axis.
     *
     * @param on
     * @return asynStatus
     */
    asynStatus enable(bool on);

    /**
     * @brief Read the encoder type (incremental or absolute) for this axis from
     * the MCU and store the information in the PV ENCODER_TYPE.
     *
     * @return asynStatus
     */
    asynStatus readEncoderType();

    /**
     * @brief Trigger a rereading of the encoder position.
     *
     * @return asynStatus
     */
    asynStatus rereadEncoder();

  protected:
    pmacV3Controller *pC_;

    asynStatus readConfig();
    bool initial_poll_;
    bool waitForHandshake_;
    time_t timeAtHandshake_;

    // The axis status is used when enabling / disabling the motor
    int axisStatus_;
    /*
    Stores the constructor input offsetLimits
    */
    double offsetLimits_;

  private:
    friend class pmacV3Controller;
};

#endif