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#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 "drivers/SSI_Comm/ssi_comm.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;
#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 HardwareMotor 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];
#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];
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);
#endif //MODULES_THREAD_THREAD_H_
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