#ifndef cmd_pc_h__
#define cmd_pc_h__

#include "prot/prot_pc.h"
#include "prot/prot_m4.h"
#include "prot_cmd/cmd_slave.h"


// 检测 自研批检仪
class selfdev_check : public HandlePc
{
  Q_OBJECT
public:
  selfdev_check() : HandlePc() {
    slave_acked_num=0;
    moter_down_cb_fun=nullptr;
  }
  ~selfdev_check() {
    if(moter_down_cb_fun!=nullptr){
      // 取消电机下降到位回调
      prot_m4 *m4 = protM4();
      if(m4!=nullptr) {
        m4->del_irq_fun(moter_down_cb_fun,"moter ");
      }
    }
  }
  int dolater(int cmd, myarray data);
  void timeout();
public slots:
  void slave_end_slot(int addr,int ack, myarray data);
protected:
  QList<myarray> slave_acked;
  int slave_acked_num;
  prot_m4_cb moter_down_cb_fun;
signals:
  void send_to_m4_signal(myarray data);
};




// 检测 自研批检仪 广播形式
class selfdev_check2 : public HandlePc
{
  Q_OBJECT
public:
  selfdev_check2() : HandlePc() {
    slave_acked_num=0;
    moter_down_cb_fun=nullptr;
  }
  ~selfdev_check2() {
    if(moter_down_cb_fun!=nullptr){
      // 取消电机下降到位回调
      prot_m4 *m4 = protM4();
      if(m4!=nullptr) {
        m4->del_irq_fun(moter_down_cb_fun,"moter ");
      }
    }
  }
  int dolater(int cmd, myarray data);
  void timeout();
public slots:
  void slave_end_slot(int addr,int ack, slave_data data);
protected:
  QList<myarray> slave_acked;
  int slave_acked_num;
  prot_m4_cb moter_down_cb_fun;
signals:
  void send_to_m4_signal(myarray data);
};




// 检测结束 自研批检仪
class selfdev_checkend : public HandlePc
{
  Q_OBJECT
public:
  selfdev_checkend() : HandlePc() {}
  ~selfdev_checkend() {}
  int dolater(int cmd, myarray data);
  void timeout();
signals:
  void send_to_m4_signal(myarray data);
};




// 电机 自研批检仪
class selfdev_moter : public HandlePc
{
  Q_OBJECT
public:
  selfdev_moter() : HandlePc() {}
  ~selfdev_moter() {}
  int dolater(int cmd, myarray data);
  void timeout();
signals:
  void send_to_m4_signal(myarray data);
};





// 小板升级
class selfdev_slaveupdate : public HandlePc
{
  Q_OBJECT
public:
  selfdev_slaveupdate() : HandlePc() {}
  ~selfdev_slaveupdate() {}
  int dolater(int cmd, myarray data);
  void timeout();
public slots:
  void slave_end_slot(int addr,int ack, slave_data data);
signals:
  void send_to_m4_signal(myarray data);
};






// 升级方案
class selfdev_update_scheme : public HandlePc
{
  Q_OBJECT
public:
  selfdev_update_scheme() : HandlePc() {}
  ~selfdev_update_scheme() {}
  int dolater(int cmd, myarray data);
  void timeout();
public slots:
  void slave_end_slot(int addr,int ack, slave_data data);
signals:
  void send_to_m4_signal(myarray data);
};





// 本机升级
class selfdev_hostupdate : public selfdev_slaveupdate
{
  Q_OBJECT
public:
  selfdev_hostupdate() : selfdev_slaveupdate() {}
  ~selfdev_hostupdate() {}
  int dolater(int cmd, myarray data);
};



// jwt升级
class selfdev_jwtupdate : public selfdev_slaveupdate
{
  Q_OBJECT
public:
  selfdev_jwtupdate() : selfdev_slaveupdate() {}
  ~selfdev_jwtupdate() {}
  int dolater(int cmd, myarray data);
};




// 自检
class selfdev_bootinfo : public HandlePc
{
  Q_OBJECT
public:
  selfdev_bootinfo() : HandlePc() {
    slave_acked_num=0;
  }
  ~selfdev_bootinfo() {
  }
  int dolater(int cmd, myarray data);
  void timeout();
public slots:
  void slave_end_slot(int addr,int ack, slave_data data);
protected:
  QList<myarray> slave_acked;
  int slave_acked_num;
};







// 测量电阻
class selfdev_measure_rescv : public HandlePc
{
  Q_OBJECT
public:
  selfdev_measure_rescv() : HandlePc() {
    slave_acked_num=0;
  }
  ~selfdev_measure_rescv() {
    if(moter_down_cb_fun!=nullptr){
      // 取消电机下降到位回调
      prot_m4 *m4 = protM4();
      if(m4!=nullptr) {
        m4->del_irq_fun(moter_down_cb_fun,"moter ");
      }
    }
  }
  int dolater(int cmd, myarray data);
  void timeout();
public slots:
  void slave_end_slot(int addr,int ack, slave_data data);
protected:
  QList<myarray> slave_acked;
  int slave_acked_num;
  prot_m4_cb moter_down_cb_fun;
signals:
  void send_to_m4_signal(myarray data);
};




// 设置电阻校准
class selfdev_set_rescv : public HandlePc
{
  Q_OBJECT
public:
  selfdev_set_rescv() : HandlePc() {
    slave_acked_num=0;
  }
  ~selfdev_set_rescv() {
  }
  int dolater(int cmd, myarray data);
  void timeout();
public slots:
  void slave_end_slot(int addr,int ack, slave_data data);
protected:
  QList<myarray> slave_acked;
  int slave_acked_num;
signals:
  void send_to_m4_signal(myarray data);
};








// 执行任务
class selfdev_runtask : public HandlePc
{
  Q_OBJECT
public:
  selfdev_runtask() : HandlePc() {
    slave_acked_num=0;
  }
  ~selfdev_runtask() {
  }
  int dolater(int cmd, myarray data);
  void timeout();
public slots:
  void slave_end_slot(int addr,int ack, slave_data data);
protected:
  QList<myarray> slave_acked;
  int slave_acked_num;
signals:
  void send_to_m4_signal(myarray data);
};





#endif