#ifndef cmd_pc_h__
#define cmd_pc_h__

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


// 把小板的返回数据转化为自研批检仪上位机的格式
myarray tran_slave_to_selfdev_check(myarray &data);

// 电机控制
myarray moter_ctrl(myarray op);

// 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() {
    handle_start_time=0;
  }
  ~selfdev_slaveupdate() {}
  int dolater(int cmd, myarray data);
  void timeout();
public slots:
  void slave_end_slot(int addr,int ack, slave_data data);
  void rate_slot(int rate, mystring str);
signals:
  void send_to_m4_signal(myarray data);
protected:
  qint64 handle_start_time;
};






// 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);
  void rate_slot(int rate, mystring str);
signals:
  void send_to_m4_signal(myarray data);
protected:
  qint64 handle_start_time;
};





// 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:
  virtual 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();
  // pc指令转从机
  virtual myarray cmd_pc_to_slave(myarray data)=0;
  // pc指令生成从机列表
  virtual QList<int> cmd_pc_to_addrs(myarray data)=0;
  // 从机发起命令
  virtual int cmd_slave(){return 0x20;}
  // pc收到回复,返回0不回复
  virtual int cmd_pc_recv()=0;
  // 生成接收回复到pc
  virtual myarray cmd_pc_recv_to_pc()=0;
  // pc回复命令,返回0不回复
  virtual int cmd_pc_ret()=0;
  // 从机返回转pc
  virtual myarray ret_slave_to_pc(QList<myarray> data)=0;
public slots:
  void slave_end_slot(int addr,int ack, slave_data data);
protected:
  void slave_sort();
protected:
  QList<myarray> slave_acked;
  int slave_acked_num;
  QList<int> addrs;
signals:
  void send_to_m4_signal(myarray data);
};


/*

selfdev_runtask 重载示例
class selfdef_custom:public selfdev_runtask
{
  // 重载此函数把pc的指令格式转化为从机能识别的格式
  myarray cmd_pc_to_slave(myarray data);
  // 重载此函数根据pc指令生成要执行命令的从机列表
  QList<int> cmd_pc_to_addrs(myarray data);
  // (可选)重载此函数设置从机要执行的命令,不重载则使用命令0x20
  int cmd_slave();
  // 重载此函数指定收到数据回复的命令字
  int cmd_pc_recv();
  // 重载此函数生成接收到数据回复的数据
  myarray cmd_pc_recv_to_pc();
  // 重载此函数指定操作结束回复的命令字
  int cmd_pc_ret();
  // 重载此函数把从机的数据格式转化为pc能识别的格式
  myarray ret_slave_to_pc(QList<myarray> data);
}



*/


// 赋码仪配置参数
class coder_sysparam : public HandlePc
{
  Q_OBJECT
public:
  coder_sysparam() : HandlePc() {
  }
  ~coder_sysparam() {
  }
  int dolater(int cmd, myarray data);
  void timeout();
};





// 赋码仪基本信息
class coder_bootinfo : public selfdev_bootinfo
{
  Q_OBJECT
public:
  coder_bootinfo() : selfdev_bootinfo() {
  }
  ~coder_bootinfo() {
  }
  void slave_end_slot(int addr,int ack, slave_data data);
};






#endif