#pragma once
#include "ITubeAngleController.h"
#include "DiosBoardCtrlParams.h"

namespace DIOS::Dev::Detail::MachineryECOM
{
	struct RS232_PARAM;

	class TubeAngleController : public ITubeAngleController
	{
	public:
		TubeAngleController();
		~TubeAngleController();
	public:
		static std::string CLASSID();
	public:
		virtual void Initialize(const std::string &name) override;
		virtual void AttachServoDrive(IServoDrive *servodrive) override;
		virtual void SetPulseOneCircle(unsigned short pulseonecircle) override;
		virtual void SetPulseDutyCycle(float dutyCycle) override;
		virtual void OnCommunicationEstablished(ICommunicateEntity *communicate) override;
		virtual void StopRotation() override;
		virtual void Rotate(int direction, int steps, DWORD pwmperiod, float pulseDutyCycle = 0.0f) override;
		virtual void SetRotateOrientation(bool clockWise) override;
		virtual void ClearSignal() override;
		virtual void AppendPWM(int steps, int period,float pulseDutyCycle = 0.0f) override;
		virtual void ClearServoDriveWarning() override;
		virtual void SetServoStatus(int svostatus) override;
	protected:
		virtual void InitializeServo();
	private:		
		void ActivePWMMode();
		void ServoOn(BOOL servoon);
		void DoWrite485(RS232_PARAM &param);
		bool IsBrakeOpening();
	private:
		ICommunicateEntity *m_communicate;
		int m_driveNumber;
		float m_pulseDutyCycle;
		IServoDrive *m_servo;
	};
}