#pragma once
#include "api/api.hpp"

namespace iflytop {
namespace zcr {
typedef enum {
  kmodule_stop                 = CMDID(1, 1),   // para:{}, ack:{}
  kmodule_break                = CMDID(1, 2),   // para:{}, ack:{}
  kmodule_get_last_exec_status = CMDID(1, 3),   // para:{}, ack:{4}
  kmodule_get_status           = CMDID(1, 4),   // para:{}, ack:{4}
  kmodule_set_param            = CMDID(1, 5),   // para:{4,4}, ack:{}
  kmodule_get_param            = CMDID(1, 6),   // para:{4}, ack:{4}I
  kmodule_readio               = CMDID(1, 7),   // para:{}, ack:{4}
  kmodule_writeio              = CMDID(1, 8),   // para:{4}, ack:{}
  kmodule_read_adc             = CMDID(1, 9),   // para:{4}, ack:{4}
  kmodule_get_error            = CMDID(1, 10),  // para:{}, ack:{1}
  kmodule_clear_error          = CMDID(1, 11),  // para:{}, ack:{}
  kmodule_set_inited_flag      = CMDID(1, 12),  // para:{4}, ack:{}
  kmodule_get_inited_flag      = CMDID(1, 13),  // para:{}, ack:{4}

  kmotor_enable                          = CMDID(2, 1),   // para:{1}, ack:{}
  kmotor_rotate                          = CMDID(2, 2),   // para:{1,4}, ack:{}
  kmotor_move_by                         = CMDID(2, 3),   // para:{4,4}, ack:{}
  kmotor_move_to                         = CMDID(2, 4),   // para:{4,4}, ack:{}
  kmotor_rotate_acctime                  = CMDID(2, 5),   // para:{4,4}, ack:{}
  kmotor_move_by_acctime                 = CMDID(2, 6),   // para:{4,4}, ack:{}
  kmotor_move_to_acctime                 = CMDID(2, 7),   // para:{4,4}, ack:{}
  kmotor_move_to_with_torque             = CMDID(2, 8),   // para:{4,4}, ack:{}
  kmotor_move_to_zero_forward            = CMDID(2, 9),   // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
  kmotor_move_to_zero_backward           = CMDID(2, 10),  // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
  kmotor_read_pos                        = CMDID(2, 11),  // para:{}, ack:{4}
  kmotor_set_current_pos_by_change_shift = CMDID(2, 12),  // para:{4}, ack:{}

  kxymotor_enable  = CMDID(3, 1),  // para:{1}, ack:{}
  kxymotor_move_by = CMDID(3, 2),  // para:{4,4,4}, ack:{}
  kxymotor_move_to = CMDID(3, 3),  // para:{4,4,4}, ack:{}

} cmdid_t;

}  // namespace zcr
}  // namespace iflytop