#pragma once
#include "Gpio.h"
#include "Pwm.h"
#include <vector>
#include <thread>
#include <iostream>
#include "scanservices_utils.h"
#include "utilsfunc.h"
#include <exception>
#include "Motordef.h"
#include "MotorConfig.h"

struct MotorPorts
{
	int power;
	int reset;
	int sleep;
	int enable;
	int dir;
	int decay;
	int home;
	int fault;
	int mode0;
	int mode1;
	int mode2;
	int pwm;
};


extern const MotorPorts motorPorts_Zouzhi;
extern const MotorPorts motorPorts_Cuozhi;

class Motor
{
public:
	Motor(MotorPorts motorPorts);
	virtual ~Motor();

protected:
	//static GpioOut powerPin;
	Gpio motor_power;
	Gpio resetPin;
	Gpio sleepPin;
	Gpio enablePin;
	Gpio dirPin;
	Pwm pwm;

	std::shared_ptr<MotorConfig> m_mtconfig;
	SMBType smbtype;

public:
	void start(std::vector<int> &delay_s, const MotorSpeedParam &msp);
	
	virtual void start();

	void stop();

	void pause();

	void setMode(int mode_input);

	void setDirection(int dir);

	void setSpeed(int value);

	static void enablePower(bool bEnable);

	static int isPowerOn()
	{
		return 0;//powerPin.getValue();
	};
};

extern std::vector<int> speedup_cfg(int finalPeriod, int Fmin, int stepnum, int a, int offset, int finalDelay);