/*
 * HipPosition.h
 *
 *  Created on: 20 февр. 2020 г.
 *      Author: user
 */

#ifndef UMLIBRARY_COMMUNICATION_HIPERFACE_HIPPOSITION_H_
#define UMLIBRARY_COMMUNICATION_HIPERFACE_HIPPOSITION_H_

#include "../../math/math_inc.hh"

#include "../../driver/HiperfaceNetworkDriver.hh"

namespace communication {
namespace hiperface {

class HipPositionClient {
private:
    driver::HiperfaceNetworkDriver & hip_driver;

    mutable unsigned long position_code;

    struct HipPosition {
        unsigned char rec_data[4];

         driver::MessageControl message_control = {
           .address = 0,
           .code = 0x42,
           .send_data_size = 0,
           .send_data = nullptr,
           .rec_data_size = 4,
           .rec_data = rec_data,
           .timeout_ms = 10,
           .ans_ready_flag = false,
           .result = driver::OK
        };
    } position_request; bool request = false;

    struct HipSetPosition {
        struct {
            unsigned char access_code = 0x55;
            unsigned char send_data[4];
        };

        driver::MessageControl message_control = {
           .address = 0,
           .code = 0x43,
           .send_data_size = 5,
           .send_data = &access_code,
           .rec_data_size = 0,
           .rec_data = nullptr,
           .timeout_ms = 40,
           .ans_ready_flag = false,
           .result = driver::OK
        };
    } set_position_request; bool set_request = false;

public:

    ///Возвращает абсолютное положение в отсчетах.
    unsigned long getPositionCode() const;

    void set(unsigned long position);

    bool sendRequest()                      { return hip_driver.send( &position_request.message_control ); }

    bool isAnswerReady() const              { return position_request.message_control.ans_ready_flag; }

    bool isOk() const                       { return position_request.message_control.result == driver::OK; }

    HipPositionClient( driver::HiperfaceNetworkDriver & hip_driver, unsigned short address);

};

} /* namespace hiperface */
} /* namespace communication */

#endif /* UMLIBRARY_COMMUNICATION_HIPERFACE_HIPPOSITION_H_ */