#pragma once
#include <map>

#include "api/api.hpp"
#include "api\i_zcan_cmder_master.hpp"
#include "cmdid.hpp"

namespace iflytop {
class ZModuleDeviceManager {
 private:
  map<uint16_t, ZIModule *> m_modulers;
  IZcanCmderMaster         *m_cancmder = nullptr;

 public:
  void initialize();
  void registerModule(uint16_t id, ZIModule *module);
  /*******************************************************************************
   *                                  ZIModule                                   *
   *******************************************************************************/
  int32_t stop(uint16_t id);
  int32_t brake(uint16_t id);

  int32_t get_last_exec_status(uint16_t id, int32_t *status);
  int32_t get_status(uint16_t id, int32_t *status);

  int32_t set_param(uint16_t id, int32_t param_id, int32_t param_value);
  int32_t get_param(uint16_t id, int32_t param_id, int32_t *param_value);

  int32_t readio(uint16_t id, int32_t *io);
  int32_t writeio(uint16_t id, int32_t io);

  int32_t read_adc(uint16_t id, int adcindex, int32_t *adc);

  /*******************************************************************************
   *                                   ZIMotor                                   *
   *******************************************************************************/

  int32_t motor_enable(uint16_t id, int32_t enable);
  int32_t motor_rotate(uint16_t id, int32_t direction, int32_t velocitylevel);
  int32_t motor_move_by(uint16_t id, int32_t distance, int32_t velocitylevel);
  int32_t motor_move_to(uint16_t id, int32_t position, int32_t velocitylevel);
  int32_t motor_move_to_with_torque(uint16_t id, int32_t pos, int32_t torque);

  /*******************************************************************************
   *                                  ZIXYMotor                                  *
   *******************************************************************************/
  int32_t xymotor_enable(uint16_t id, int32_t enable);
  int32_t xymotor_move_by(uint16_t id, int32_t dx, int32_t dy, int32_t velocitylevel);
  int32_t xymotor_move_to(uint16_t id, int32_t x, int32_t y, int32_t velocitylevel);

 private:
  template <typename T>
  int32_t findModule(uint16_t id, T **module) {
    auto it = m_modulers.find(id);
    if (it == m_modulers.end()) {
      return err::kce_no_such_module;
    }
    T *_module = dynamic_cast<T *>(it->second);
    if (_module == nullptr) {
      return err::kce_operation_not_support;
    }
    *module = _module;
    return 0;
  }
};

}  // namespace iflytop