#ifndef MODULES_THREAD_THREAD_H_
#define MODULES_THREAD_THREAD_H_

#include "PMR/common/MessageContainer.pb-c.h"
#include "PMR/Hardware/HardwareMotor.pb-c.h"
#include "PMR/Hardware/HardwareMotorType.pb-c.h"
#include "PMR/Hardware/HardwareDancer.pb-c.h"
#include "PMR/Hardware/HardwareDancerType.pb-c.h"
#include "PMR/Hardware/HardwareWinder.pb-c.h"
#include "PMR/Hardware/HardwarePidControl.pb-c.h"
#include "PMR/Hardware/HardwareConfiguration.pb-c.h"
#include "PMR/Printing/JobSpool.pb-c.h"
#include "PMR/Printing/JobSpoolType.pb-c.h"

#include "drivers/Motors/Motor.h"
#include "../control/pidalgo.h"

#include "thread_ex.h"
#include "drivers/SSI_Comm/SSI_Comm.h"

#define NORMAL_COEF_DIVIDER 100
typedef struct
{
    bool                m_isEnabled;
    int32_t             m_SetParam;
    float               m_mesuredParam;
    float               m_preError;
    float               m_integral;
    float               m_calculatedError;
    bool                m_isReady;
    uint32_t            m_ingnoreValue;
    PID_Config_Params   m_params;
}MotorControlConfig_t;

#ifdef FOUR_WINDERS
#define SCREW_2_Motor  HARDWARE_MOTOR_TYPE__MOTO_SPARE2_1
#define SCREW_3_Motor  HARDWARE_MOTOR_TYPE__MOTO_SPARE1_1
#define SCREW_4_Motor  HARDWARE_MOTOR_TYPE__MOTO_RDANCER
#define Winder_2_Motor HARDWARE_MOTOR_TYPE__MOTO_SPARE2_2
#define Winder_3_Motor HARDWARE_MOTOR_TYPE__MOTO_SPARE1_2
#define Winder_4_Motor HARDWARE_MOTOR_TYPE__MOTO_RLOADARM
#endif


#define MAX_THREAD_FEED_MOTORS (WINDER_MOTOR+1)
#define MAX_SYSTEM_DANCERS NUM_OF_ROTENC

extern TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM];

#ifdef FOUR_WINDERS
extern Dancers_4_Winders ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM];
#else
extern HardwareDancerType ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM];
#endif

extern HardwarePidControlType ThreadMotorIdToControlId[MAX_THREAD_MOTORS_NUM];

extern bool BreakSensorenabled;
extern int32_t BreakSensordebouncetimemilli;

extern bool SampleWinding;


//extern MotorDriverConfigStruc                MotorsCfg[NUM_OF_MOTORS];
extern HardwarePidControl           MotorsControl[MAX_THREAD_MOTORS_NUM];
//extern InternalWinderConfigStruc    InternalWinderCfg;
extern HardwareDancer               DancersCfg[MAX_SYSTEM_DANCERS];
extern double CurrentControlledSpeed[MAX_THREAD_MOTORS_NUM];
extern double OriginalMotorSpd_2PPS[MAX_THREAD_MOTORS_NUM];

#define MAX_CONTROL_SAMPLES 10
extern int32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
extern int MotorSamplePointer[MAX_THREAD_MOTORS_NUM];
extern double NormalizedErrorCoEfficient[MAX_THREAD_MOTORS_NUM];
extern int DancerStopActivityLimit[MAX_THREAD_MOTORS_NUM];
extern    MotorControlConfig_t MotorControlConfig[MAX_THREAD_MOTORS_NUM];
extern double MotorSpeedSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
extern int MotorSpeedSamplePointer[MAX_THREAD_MOTORS_NUM];


uint32_t InternalWinderConfigMessage(HardwareWinder* request);
uint32_t MotorsConfigMessage( HardwareConfiguration* HW_request);
uint32_t InternalWindingConfigMessage(JobSpool* request);
uint32_t MotorPidRequestMessage(HardwarePidControl* request);
void     SetKeepWindingCone(bool value);
void SetWinderBackToBaseTime(uint32_t value);

uint32_t DancerConfigMessage(HardwareDancer * request);
uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Read);

void SetOriginMotorSpeed(float process_speed);
uint32_t UpdatePidDuringRun(HardwarePidControl *hardwarepidcontrol);

uint32_t ThreadPrepare_Tension (int DancerId, double tension);


#endif //MODULES_THREAD_THREAD_H_