#pragma once
#include <map>

#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"

namespace iflytop {
class APPDM : public ZModuleDeviceManager {
 private:

 public:
  void initialize(IZcanCmderMaster *m_cancmder);
  void registerModule(ZIModule *module);

  /*******************************************************************************
   *                                  ZIModule                                   *
   *******************************************************************************/
  virtual int32_t module_stop(uint16_t id) override;
  virtual int32_t module_break(uint16_t id) override;

  virtual int32_t module_get_last_exec_status(uint16_t id, int32_t *status) override;
  virtual int32_t module_get_status(uint16_t id, int32_t *status) override;

  virtual int32_t module_set_param(uint16_t id, int32_t param_id, int32_t param_value) override;
  virtual int32_t module_get_param(uint16_t id, int32_t param_id, int32_t *param_value) override;

  virtual int32_t module_readio(uint16_t id, int32_t *io) override;
  virtual int32_t module_writeio(uint16_t id, int32_t io) override;

  virtual int32_t module_read_adc(uint16_t id, int32_t adcindex, int32_t *adc) override;

  virtual int32_t module_get_error(uint16_t id, int32_t *iserror) override;
  virtual int32_t module_clear_error(uint16_t id) override;

  virtual int32_t module_set_inited_flag(uint16_t id, int32_t flag) override;
  virtual int32_t module_get_inited_flag(uint16_t id, int32_t *flag) override;

  virtual int32_t module_factory_reset(uint16_t id) override;
  virtual int32_t module_flush_cfg(uint16_t id) override;
  virtual int32_t module_active_cfg(uint16_t id) override;

  virtual int32_t module_set_state(uint16_t id, int32_t state_id, int32_t state_value) override;
  virtual int32_t module_get_state(uint16_t id, int32_t state_id, int32_t *state_value) override;

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

  virtual int32_t motor_enable(uint16_t id, int32_t enable) override;
  virtual int32_t motor_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc) override;
  virtual int32_t motor_move_by(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acc) override;
  virtual int32_t motor_move_to(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acc) override;
  virtual int32_t motor_rotate_acctime(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acctime) override;
  virtual int32_t motor_move_by_acctime(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acctime) override;
  virtual int32_t motor_move_to_acctime(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acctime) override;
  virtual int32_t motor_move_to_zero_forward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
  virtual int32_t motor_move_to_zero_backward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
  virtual int32_t motor_rotate_with_torque(uint16_t id, int32_t direction, int32_t torque) override;
  virtual int32_t motor_read_pos(uint16_t id, int32_t *pos) override;
  virtual int32_t motor_set_current_pos_by_change_shift(uint16_t id, int32_t pos) override;
  virtual int32_t motor_move_to_zero_forward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
  virtual int32_t motor_move_to_zero_backward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;

  /*******************************************************************************
   *                                  ZIXYMotor                                  *
   *******************************************************************************/

  virtual int32_t xymotor_enable(uint16_t id, int32_t enable) override;
  virtual int32_t xymotor_move_by(uint16_t id, int32_t dx, int32_t dy, int32_t motor_velocity) override;
  virtual int32_t xymotor_move_to(uint16_t id, int32_t x, int32_t y, int32_t motor_velocity) override;
  virtual int32_t xymotor_move_to_zero(uint16_t id) override;
  virtual int32_t xymotor_move_to_zero_and_calculated_shift(uint16_t id) override;
  virtual int32_t xymotor_read_pos(uint16_t id, int32_t *x, int32_t *y) override;
  virtual int32_t xymotor_calculated_pos_by_move_to_zero(uint16_t id) override;

 private:
};

}  // namespace iflytop