/*
 * MoveToPointWithTimeout.hh
 *
 *  Created on: 8 июл. 2020 г.
 *      Author: LeonidTitov
 */

#ifndef UMLIBRARY_TECHNOLOGICAL_FUNCTION_MOVETOPOINTWITHTIMEOUT_HH_
#define UMLIBRARY_TECHNOLOGICAL_FUNCTION_MOVETOPOINTWITHTIMEOUT_HH_

#include "MoveToPoint.hh"

namespace technological { namespace function {

class MoveToPointWithTimeout : public MoveToPoint {
public:

    struct Setting {
        float retention_accuracy;   //!<Точность достижения позиции.
        float on_position_timeout;  //!<Время удержания заданного положения, с.

        float permit_speed_factor;  //!<Допустимая скорость, отн.
        float permit_time;          //!<Допустимое время, в секундах.

        Setting();
        bool isValid();
    };

    void configure( Setting & config );

    short getState() const;
    void stop();

    MoveToPointWithTimeout( ResourceKeeper< technological::adapter::TieInterface<vector::ITechValue> > & control_system_wrapper,
                     ResourceKeeper<vector::ITechValue> & speed_limit,
                     ResourceKeeper<vector::ITechValue> & torque_limit,
                     ResourceKeeper<vector::ITechValue> & acc_limit
                     );

protected:
    virtual void on_start( Input & input, float start_point, systemic::time_t on_position_timeout );
    virtual void in_progress();

private:
    systemic::Timer compite_timer;

    float permit_speed_factor;
    float permit_time;

    bool move_failure;
};

}}

#endif /* UMLIBRARY_TECHNOLOGICAL_FUNCTION_MOVETOPOINTWITHTIMEOUT_HH_ */