/home/benoit/sketchbook/libraries/HerkuleXLib/HkxPosControl.h

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#ifndef _HKXPOSCONTROL_H
#define _HKXPOSCONTROL_H

#include "Arduino.h"
#include "HkxCommunication.h"
#include "HkxStatus.h"

class HkxPosControl{
private:
  HkxCommunication& _herkXCom; 
  HkxPrint& _print; 
  boolean _connected; 
  const String _className;
  int16_t _zeroPosition;
  uint8_t _id;
  uint8_t _deadZone;
  uint8_t _saturatorOffset;
  uint16_t _saturatorSlope;
  int8_t _pwmOffset;
  uint8_t _minPWM;
  uint16_t _maxPWM;
  uint16_t _minPosition;
  uint16_t _maxPosition;
  hkxTorqueControl _torqueControl;
  hkxLEDControl _ledControl;
  HkxStatus _statusED;

  uint8_t updateStatus();

  void errorPrint(const String& message){if(_print._errorMessages){_print.errorPrint(_className + message);}};

  void warningPrint(const String& message){if(_print._errorMessages){_print.warningPrint(_className + message);}};

  void infoPrint(const String& message){if(_print._errorMessages){_print.infoPrint(_className + message);}};
public:  
  HkxPosControl(uint8_t ID, HkxCommunication& herkXCom, HkxPrint& print);
  
  boolean tryConnect();
  uint8_t getID() const {return this->_id;}; 

  hkxTorqueControl getTorqueControl() const {return this->_torqueControl;};

  hkxLEDControl getLEDControl() const {return this->_ledControl;};

  HkxCommunication& getCommunication() const {return this->_herkXCom;};

  boolean isConnected() const {return this->_connected;};

  int16_t positionRelativeToAbsolute(int16_t positionRelative) const {return positionRelative + _zeroPosition;};

  int16_t positionAbsoluteToRelative(int16_t positionAbsolute) const {return positionAbsolute - _zeroPosition;};

  uint16_t getMinPosition() const {return _minPosition;};

  uint16_t getMaxPosition() const {return _maxPosition;};

  void setLEDControlVariable(hkxLEDControl newLEDControl){this->_ledControl = newLEDControl;};
  boolean isInPosition(){
    this->updateStatus();
    return this->_statusED.isDetail(HKX_STAT_INPOSITION_FLAG);
  };

  uint8_t getStatus(HkxStatus& statusED, boolean update);

  uint8_t clearStatus();

  uint8_t setLoad(uint16_t newDeadZone, uint8_t newSaturatorOffset, const uint32_t& newSaturatorSlope, int8_t newPWMOffset, uint8_t newMinPWM, uint16_t newMaxPWM);

  uint8_t setTorqueLEDControl(HkxMaybe<hkxTorqueControl> newTorqueControl, HkxMaybe<hkxLEDControl> newLEDControl);

  uint8_t setCurrentPositionTo(int16_t currentPosition);

  uint8_t movePosition(int16_t destinationAngle, uint16_t playTime, HkxMaybe<hkxLEDControl> LEDControl, bool waitStop);

  uint8_t getBehaviour(HkxMaybe<uint16_t> inputVoltage, HkxMaybe<uint16_t> temperature, HkxMaybe<int16_t> position, HkxMaybe<int16_t> velocity, HkxMaybe<uint16_t> PWM, HkxMaybe<int16_t> goalPosition, HkxMaybe<int16_t> trajectoryPosition, HkxMaybe<int16_t> trajectoryVelocity);

  uint8_t reboot();
};

#endif    // _HKXPOSCONTROL_H