#pragma once
#include "ISensorEncoderController.h"

namespace DIOS::Dev::Detail::MachineryECOM
{
	struct CAN_PARAM;

	class SensorEncoderCArmYiDongController : public ISensorEncoderController
	{
	public:
		SensorEncoderCArmYiDongController();
		~SensorEncoderCArmYiDongController();
	public:
		static std::string CLASSID();
	public:
		virtual void Initialize(const std::string &name) override;
		virtual void OnCommunicationEstablished(ICommunicateEntity *communicate) override;
		virtual int  GetCurrentEncoderValue() override;
		virtual void LoadAxisInterfaceID(int id_axis_a, int id_axis_b, int id_axis_z) override;
		virtual void BindABAxis() override;
		virtual void BindZAxis() override;
		virtual void UnBindZAxis() override;
		virtual void ActiveAutoNotifyWhenZClear(bool active) override;
		virtual void ActiveExposureTrigger(int triggerID) override;
		virtual void ActiveRotateTrigger(int triggerID) override;
		virtual void SetExposureTrigger(int encoderValue) override;
		virtual void SetRotateTrigger(int encoderValue) override;
		virtual void ClearTrigger() override;
	private:
		bool MakeSensorValueReadCanPacket(CAN_PARAM *canParm);
		int  ParseSensorValueFromCanPacket(CAN_PARAM *canParm);
	private:
		ICommunicateEntity *m_communicate;
	};

}