#pragma once
#include <QObject>
#include <QString>
#include <QtSerialPort/QSerialPort>
#include <QDebug>
#include <iostream>

#include "JsonOperate.h"
#include "MotorControllerBase.h"

#define MOTOR_SYNC     (0xFF)//帧头
#define MOTOR_ETX		(0xFE)//帧尾

#define MOTOR_disconnection		-1000000//速度等于这个数就代表马达通讯异常

class VinceMotorControllerUsb :
    public MotorControllerBase, QObject
{
    Q_OBJECT

public:
    VinceMotorControllerUsb(QString serialPort, QString paramJson, QObject* parent = nullptr);
    ~VinceMotorControllerUsb();

    void init(QString jsonPath);
    int sendCommand2Motor(QString cmd);
    bool isConnected();
    void enable();

    void move2Pos(double pos);
    void move(bool towardOrigin);//true：远离原点，false：靠近原点
    void stopMove();
    void setSpeed(double speed);
    double getSpeed();
    double getCurrentLoc();
    void zeroStart();

    int getSpeedLocation(double& speed, double& locatioin);
    
    State getState();
    int recvData(QByteArray& dataRecv);
    IrisMotorErrorCode parseBytedata(QByteArray buf, State& backdatt);
    IrisMotorErrorCode extractOneValidFrame(QByteArray& buffer);
    IrisMotorErrorCode parseOneValidFrame(QByteArray& buffer, State& result);

private:
    QSerialPort* m_pSerialPort;

    double m_iSpeed;
};