/*
 * GluexXPSAxis.hh
 *
 *  Created on: Apr 5, 2016
 *      Author: Hovanes Egiyan
 *
 * Modified on: Apr 12, 2016
 *       Vanik Kakoyan
*/

#ifndef GLUEXXPSAXIS_HH_
#define GLUEXXPSAXIS_HH_

/************/
/* Includes */
/************/
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include <stdio.h>
#include <errno.h>
#include <math.h>
#include <ctype.h>
#include <stdint.h>

/* EPICS includes */
#include <cantProceed.h>
#include <asynPortDriver.h>
#include <epicsEvent.h>
#include <epicsTypes.h>
#include <epicsThread.h>
#include <epicsString.h>
#include <epicsTimer.h>
#include <epicsExport.h>
#include <epicsMutex.h>
#include <epicsEvent.h>
#include <errlog.h>
#include <iocsh.h>
#include <initHooks.h>

#include <iostream>
#include <fstream>
#include <string>
#include <sstream>
#include <map>
#include <vector>
#include <exception>
#include <stdexcept>

#include <boost/assign/list_of.hpp> // for 'map_list_of()'
#include <boost/assert.hpp>


#include "asynPortDriver.h"
#include "XPSAxis.h"

class GluexXPSController;

class GluexXPSAxis: public XPSAxis {
public:

	double pcoMinPosSet_;
	double pcoMaxPosSet_;
	double pcoStepSet_;
	double pcoPulseWidthSet_;
	double encoderSettlingTimeSet_;

public:
	GluexXPSAxis( GluexXPSController *pController, int axisNo, const char *positionerName,
			double stepSize );
	virtual ~GluexXPSAxis();

	// Override the version from asynMotorAxis
	virtual asynStatus setStringParam( int index, const char *value );
	virtual asynStatus setIntegerParam( int index, int value );
	virtual asynStatus setDoubleParam( int index, double value );

	virtual asynStatus referencingActionExecute();

	asynStatus home( double min_velocity, double max_velocity, double acceleration, int forwards );

	inline asynStatus poll( bool *moving );


	virtual GluexXPSController* getController() ;

	virtual bool isInGroup( const std::string groupName );

	virtual inline std::string getGroupName() {return this->getPositionerName();}
	virtual inline std::string getPositionerName() {return std::string(positionerName_);}
	virtual inline int getAxisNumber() const {return axisNo_;}

	static std::string getGroupName( const std::string positionerName );

	friend class GluexXPSController;
};

#endif /* GLUEXXPSAXIS_HH_ */