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

namespace iflytop {
namespace zcr {
typedef enum {
#if 0
    virtual int32_t module_set_state(int32_t state_id, int32_t state_value) { return err::koperation_not_support; }
  virtual int32_t module_get_state(int32_t state_id, int32_t *state_value) { return err::koperation_not_support; }
#endif
  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}
  kmodule_factory_reset        = CMDID(1, 14),  // para:{}, ack:{}
  kmodule_flush_cfg            = CMDID(1, 15),  // para:{}, ack:{}
  kmodule_active_cfg           = CMDID(1, 16),  // para:{}, ack:{}
  kmodule_set_state            = CMDID(1, 17),  // para:{4,4}, ack:{}
  kmodule_get_state            = CMDID(1, 18),  // para:{4}, 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:{}
  kmotor_motor_move_to_zero_forward_and_calculated_shift  = CMDID(2, 13),  // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
  kmotor_motor_move_to_zero_backward_and_calculated_shift = CMDID(2, 14),  // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime

#if 0
  virtual ~ZIXYMotor() {}
  virtual int32_t xymotor_enable(int32_t enable) { return err::koperation_not_support; }
  virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) { return err::koperation_not_support; }
  virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity) { return err::koperation_not_support; }
  virtual int32_t xymotor_move_to_zero() { return err::koperation_not_support; }
  virtual int32_t xymotor_move_to_zero_and_calculated_shift() { return err::koperation_not_support; }
  virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) { return err::koperation_not_support; }
  virtual int32_t xymotor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
#endif
  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:{}
  kxymotor_move_to_zero                      = CMDID(3, 4),  // para:{}, ack:{}
  kxymotor_move_to_zero_and_calculated_shift = CMDID(3, 5),  // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
  kxymotor_read_pos                          = CMDID(3, 6),  // para:{}, ack:{4,4}
  kxymotor_calculated_pos_by_move_to_zero    = CMDID(3, 7),  // para:{}, ack:{}

} cmdid_t;

}  // namespace zcr
}  // namespace iflytop