#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/Printing/JobSpool.pb-c.h"
#include "PMR/Printing/JobSpoolType.pb-c.h"


typedef struct
{
  HardwareMotorType id;
  uint32_t minfreq;
  uint32_t maxfreq;
  uint32_t minmicrostep;
  uint32_t maxmicrostep;
  double linearratio;
  uint32_t medianposition;
  double correctiongain;
  double ratio2dryerspeed;
  double kp;
  double ki;
  double kd;
  double changeslope;
  double hightimeoutusec;
}MotorConfigStruc;
typedef struct
{
    uint32_t startoffsetpulses;
    uint32_t spoolbackingrate;
    uint32_t segmentoffsetpulses;
    uint32_t milimetersperrotation;
}InternalWinderConfigStruc;

typedef struct
{
    bool fixorgradual;
    double k;
    double x;
    int32_t pulsepermmspring;
    int id;  //HardwareDancerType
}DancerConfigStruc;

typedef enum threadMotorsEnum
{
    FEEDER_MOTOR,
    DRYER_MOTOR,
    POOLER_MOTOR,
    WINDER_MOTOR,
    SCREW_MOTOR,
    MAX_THREAD_MOTORS_NUM
}threadMotorsEnum;

extern uint32_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM];


extern MotorConfigStruc  MotorsCfg[MAX_THREAD_MOTORS_NUM];
extern InternalWinderConfigStruc InternalWinderCfg;


uint32_t InternalWinderConfigMessage(HardwareWinder* request);
uint32_t MotorsConfigMessage(HardwareMotor * request);
uint32_t InternalWindingConfigMessage(JobSpool* request);

uint32_t DancerConfigMessage(HardwareDancer * request);


#endif //MODULES_THREAD_THREAD_H_