#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/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"

typedef struct
{
    uint32_t startoffsetpulses;
    uint32_t spoolbackingrate;
    uint32_t segmentoffsetpulses;// the spool winding initial length in mm
    uint32_t milimetersperrotation;
    uint32_t SpoolBottomBackingRate;// the angle of the bottom of the spool
    double NumberOfRotationPerPassage;  // how many rotations per spool passage
    double diameter;
}InternalWinderConfigStruc;
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;


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

extern TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM];
extern HardwareDancerType ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM];
extern HardwarePidControlType ThreadMotorIdToControlId[MAX_THREAD_MOTORS_NUM];

extern bool BreakSensorenabled;
extern int32_t BreakSensordebouncetimemilli;

//extern MotorDriverConfigStruc                MotorsCfg[NUM_OF_MOTORS];
extern HardwarePidControl           MotorsControl[MAX_THREAD_MOTORS_NUM];
//extern InternalWinderConfigStruc    InternalWinderCfg;
extern HardwareDancer               DancersCfg[MAX_SYSTEM_DANCERS];
extern uint32_t CurrentControlledSpeed[MAX_THREAD_MOTORS_NUM];
extern int 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 int32_t MotorSpeedSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
extern int MotorSpeedSamplePointer[MAX_THREAD_MOTORS_NUM];


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

uint32_t DancerConfigMessage(HardwareDancer * request);

void SetOriginMotorSpeed(float process_speed);

#endif //MODULES_THREAD_THREAD_H_