/*
 * PrimaryEncoderSetup.h
 *
 *  Created on: 3 окт. 2019 г.
 *      Author: user
 */

#ifndef SOURCE_APPLICATION_BOARD_PRIMARYENCODERSETUP_H_
#define SOURCE_APPLICATION_BOARD_PRIMARYENCODERSETUP_H_

#include "../ISetupStep.hh"

#include "../../peripheral/ISerialPort.hh"
#include "../../peripheral/IGpio.hh"

namespace application { namespace board {

struct PrimaryEncoderSetup : public ISetupStep {
    peripheral::ISerialPort * serial_port = nullptr;
    peripheral::IGpio * de_pin = nullptr;
    peripheral::IGpio * power_pin = nullptr;
    peripheral::IGpio * cs21_pin = nullptr;
    peripheral::IGpio * cs22_pin = nullptr;

    bool input( Environment & env );
    void build( Environment & env );

    struct Links {
        //Input:
        Environment::Id serial_port_id;
        Environment::GpioId de_pin_id;
        Environment::GpioId power_pin_id;
        Environment::GpioId cs21_id;
        Environment::GpioId cs22_id;
        //Output:
        Environment::Id primary_encoder_id;
        Environment::StatusId data_valid_id;
        Environment::StatusId failure_id;
        Environment::SignalId encoder_angle_sig_id; //!<Угол по данным энкодера.
        Environment::SignalId encoder_turn_sig_id;  //!<Оборот по данным энкодера.
        Environment::SignalId encoder_err_sig_id;   //!<Код ошибки энкодера.
    };

    const Links & links;

    const configuration::ProcessConfig & params;

    struct Setting {
        uint16_t de_active_level;
        uint16_t power_pin_active_level;
        uint16_t cs21_active_level;
        uint16_t cs22_active_level;

        uint16_t shift_bit_count;
        uint16_t turn_bit_len;
        uint16_t max_turn_bit_len;
        uint16_t angle_bit_len;
        uint16_t error_bit_len;
        uint16_t inverse;
    };

    const Setting & config;

    PrimaryEncoderSetup( const Links & links,
                         const Setting & config,
                         const configuration::ProcessConfig & proc );
};

} /* namespace board */
} /* namespace application */

#endif /* SOURCE_APPLICATION_BOARD_PRIMARYENCODERSETUP_H_ */