#pragma once
#include <stdint.h>

#include <functional>

#include "errorcode.hpp"

namespace iflytop {
using namespace std;
class ZIMotor {
 public:
  virtual ~ZIMotor() {}
  virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
  virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
  virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
  virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }

  virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
  virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
  virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }

  virtual int32_t motor_move_to_with_torque(int32_t pos, int32_t torque) { return err::koperation_not_support; }

  virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
  virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }

  virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
  virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }

  virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
  virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; }  // 一般用于舵机

  // virtual int32_t motor_set_shaft();

  // s32 pos, s32 speed, s32 torque,
};
}  // namespace iflytop