/*
 * StepperControlAxis.h
 *
 *  Created on: 18 juli 2015
 *      Author: Tim Evers
 */

#ifndef STEPPERCONTROLAXIS_H_
#define STEPPERCONTROLAXIS_H_

#include "Arduino.h"
#include "CurrentState.h"
#include "ParameterList.h"
#include "pins.h"
#include "StepperControlEncoder.h"
#include "Config.h"
#include <stdio.h>
#include <stdlib.h>

class StepperControlAxis
{

public:
  StepperControlAxis();

  void loadPinNumbers(int step, int dir, int enable, int min, int max, int step2, int dir2, int enable2);
  void loadMotorSettings(long speedMax, long speedMin, long stepsAcc, long timeOut, bool homeIsUp, bool motorInv, bool endStInv, long interruptSpeed, bool motor2Enbl, bool motor2Inv, bool endStEnbl);
  void loadCoordinates(long sourcePoint, long destinationPoint, bool home);
  void setMaxSpeed(long speed);

  void enableMotor();
  void disableMotor();
  void checkMovement();
  void checkTiming();

  bool isAxisActive();
  void deactivateAxis();
  bool isAccelerating();
  bool isDecelerating();
  bool isCruising();
  bool isCrawling();
  bool isMotorActive();
  bool isMoving();

  bool endStopMin();
  bool endStopMax();
  bool endStopsReached();
  bool endStopAxisReached(bool movement_forward);

  long currentPosition();
  void setCurrentPosition(long newPos);

  void setStepAxis();
  void setMotorStep();
  void resetMotorStep();

  void setDirectionUp();
  void setDirectionDown();
  void setDirectionHome();
  void setDirectionAway();
  void setDirectionAxis();

  void setMovementUp();
  void setMovementDown();

  bool movingToHome();
  bool movingUp();

  bool isStepDone();
  void resetStepDone();

  void activateDebugPrint();
  void test();

  char label;
  bool movementStarted;

private:
  int lastCalcLog = 0;
  bool debugPrint = false;

  // pin settings primary motor
  int pinStep;
  int pinDirection;
  int pinEnable;

  // pin settings primary motor
  int pin2Step;
  int pin2Direction;
  int pin2Enable;

  // pin settings primary motor
  int pinMin;
  int pinMax;

  // motor settings
  bool motorEndStopInv;  // invert input (true/false) of end stops
  bool motorEndStopEnbl; // enable the use of the end stops

  // motor settings
  long motorSpeedMax;       // maximum speed in steps per second
  long motorSpeedMin;       // minimum speed in steps per second
  long motorStepsAcc;       // number of steps used for acceleration
  long motorTimeOut;        // timeout in seconds
  bool motorHomeIsUp;       // direction to move when reached 0 on axis but no end stop detected while homing
  bool motorMotorInv;       // invert motor direction
  bool motorMotor2Enl;      // enable secondary motor
  bool motorMotor2Inv;      // invert secondary motor direction
  long motorInterruptSpeed; // period of interrupt in micro seconds

  // coordinates
  long coordSourcePoint; // all coordinated in steps
  long coordCurrentPoint;
  long coordDestinationPoint;
  bool coordHomeAxis; // homing command

  // movement handling
  unsigned long movementLength;
  unsigned long maxLenth;
  unsigned long moveTicks;
  unsigned long stepOnTick;
  unsigned long stepOffTick;
  unsigned long axisSpeed;

  bool axisActive;
  bool movementUp;
  bool movementToHome;
  bool movementStepDone;
  bool movementAccelerating;
  bool movementDecelerating;
  bool movementCruising;
  bool movementCrawling;
  bool movementMotorActive;
  bool movementMoving;

  void step(long &currentPoint, unsigned long steps, long destinationPoint);
  bool pointReached(long currentPoint, long destinationPoint);
  unsigned int calculateSpeed(long sourcePosition, long currentPosition, long destinationPosition, long minSpeed, long maxSpeed, long stepsAccDec);
  unsigned long getLength(long l1, long l2);
  void checkAxisDirection();
};

#endif /* STEPPERCONTROLAXIS_H_ */