#ifndef VHFMILL_H
#define VHFMILL_H

#include <QObject>
#include <QIODevice>
#include <QThread>
#include <QString>
#include <vector>
#include <stdint.h>
#include <QTimer>

class VhfMill : public QObject
{
	Q_OBJECT

public:
	enum {
		AXIS_NONE = 0,
		AXIS_X = 1,
		AXIS_Y = 1<<1,
		AXIS_Z = 1<<2,
		AXIS_A = 1<<3,
		AXIS_B = 1<<4,
		AXIS_ALL = AXIS_X | AXIS_Y | AXIS_Z | AXIS_A | AXIS_B,
	};
	typedef int Axis;

private:

	typedef enum {
		MODE_PREINIT,
		MODE_HOME,
		MODE_NORMAL,
		MODE_TOOLCHANGE,
		MODE_JOG,
	} Mode;

	std::vector<int> limits_;

	QIODevice* serial_;
	uint8_t nAxis_;

	uint8_t outputs_ = 0;
	int spindleSpeed_ = 0;
	uint16_t sensors_;
	std::vector<int> lastKnownPos_;
	std::vector<int> touchoffPos_;
	Mode mode_ = MODE_PREINIT;
	Axis axisHomed_ = AXIS_NONE;
	Axis homeAxis_ = AXIS_NONE;

	Axis jogAxis_ = AXIS_NONE;
	int jogStep_ = -1;
	int jogDirection_ = 0;

	QTimer positionTimer;
	QTimer stateTimer;
	QTimer initTimer;

	QByteArray lineBuffer_;

	void processIncomeingLine();
	static int axisToMashineNumber(Axis axis);
	QByteArray generateCmdForOffset(QByteArray command);

private slots:
	void serialReadyRead();
	void initTimerFn();
	void stateTimerFn();
	void reinit();

public:
	explicit VhfMill(QIODevice* serial, uint8_t nAxis = 4, QObject *parent = nullptr);
	std::vector<int> getLastKnownPosition() const;
	Axis homed() const;
	bool allHomed() const;
	uint8_t axisCount() const;
	uint16_t getLastKnownSensors() const;
	bool presureReady() const;
	bool isInitDone() const;
	int getLastSpindleSpeed() const;
	std::vector<int> getLastTouchoffPosition() const;
	const std::vector<int>& getLimits() const;

	static const QString textForErrno(int errorNumber);
	static size_t axisToIndex(Axis axis);

public slots:
	void setSpindleSpeed(int speed);
	void send(const QByteArray& cmd);
	void stop();
	void home(VhfMill::Axis axis);
	void jog(VhfMill::Axis axis, int jogDirection);
	void setOutput(int output, bool state);
	void setTool(int tool);
	void reqTool();
	void reqOutputs();
	void reqPosition();
	void reqSensors();
	void reqSpindleSpeed();
	void enablePosUpdates(bool enable);
	void enableStateUpdates(bool enable);
	void touchOff(VhfMill::Axis axis, int offset);
	void touchOffAbsolute(std::vector<int> touchoffPos);
	void setjogStep(int step);
	void init();

signals:
	void raiseError(int errorNumber);
	void positionUpdate(std::vector<int> position);
	void isHomed(VhfMill::Axis axis);
	void gotLine(QByteArray string);
	void gotToolNum(int tool);
	void gotOutputs(uint8_t outputs);
	void gotSindleSpeed(int speed);
	void gotProbeState(bool state);
	void gotPressureState(bool state);
	void touchOffChanged();
	void initDone();
	void toolChangeDone();
	void touchoffChanged(std::vector<int> touchoffPos);
	void jogStepChanged(int step);
};

#endif // VHFMILL_H