#pragma once
#include <stdint.h>

namespace iflytop {
using namespace std;

#define STATE_INDEX(type, subconfigindex) (type + subconfigindex)
typedef enum {

  /**
   * @brief 电机状态
   *
   *  0    -> 100  模块通用状态
   *  100 -> 199 电机1状态
   *  100 -> 299 电机2状态
   *  1000 -> 1100 xy电机状态
   *
   *
   */

  kstate_module_status    = STATE_INDEX(0, 0),  // 0idle,1busy,2error
  kstate_module_errorcode = STATE_INDEX(0, 1),  //

  kstate_motor1_move        = STATE_INDEX(100, 0),  //
  kstate_motor1_enable      = STATE_INDEX(100, 1),  //
  kstate_motor1_current     = STATE_INDEX(100, 2),  //
  kstate_motor1_vel         = STATE_INDEX(100, 3),  //
  kstate_motor1_pos         = STATE_INDEX(100, 4),  //
  kstate_motor1_temperature = STATE_INDEX(100, 5),  //
  kstate_motor1_dpos        = STATE_INDEX(100, 6),  //

  kstate_motor2_move        = STATE_INDEX(110, 0),  //
  kstate_motor2_enable      = STATE_INDEX(110, 1),  //
  kstate_motor2_current     = STATE_INDEX(110, 2),  //
  kstate_motor2_vel         = STATE_INDEX(110, 3),  //
  kstate_motor2_pos         = STATE_INDEX(110, 4),  //
  kstate_motor2_temperature = STATE_INDEX(110, 5),  //
  kstate_motor2_dpos        = STATE_INDEX(110, 6),  //

  kstate_xyrobot_move   = STATE_INDEX(1000, 0),  //
  kstate_xyrobot_enable = STATE_INDEX(1000, 1),  //
  kstate_xyrobot_x_pos  = STATE_INDEX(1000, 2),  //
  kstate_xyrobot_y_pos  = STATE_INDEX(1000, 3),  //
  kstate_xyrobot_z_pos  = STATE_INDEX(1000, 4),  //
  kstate_xyrobot_x_dpos = STATE_INDEX(1000, 5),  //
  kstate_xyrobot_y_dpos = STATE_INDEX(1000, 6),  //
  kstate_xyrobot_z_dpos = STATE_INDEX(1000, 7),  //

} state_index_t;

}  // namespace iflytop