XYZControlSutter.h

#pragma once

#include "ScopeDefines.h"

// Only use this code if we need it
#ifdef SCOPE_USE_SUTTER_XYZSTAGE

#include "XYZControl.h"
#include "SutterController.h"

namespace scope {

class XYZControlSutter 
    : public XYZControl {

protected:
    std::unique_ptr<SutterController> sc;

    ScopeNumber<double> microstepspermicron;

    uint16_t stepdiv;
    uint16_t stepmult;
    uint16_t speed;
    uint16_t version;
    union SutterValue16 {
        uint16_t intval;
        unsigned char charval[2];
    };

    union SutterValue32 {
        uint32_t intval;
        unsigned char charval[4];
    };

    uint16_t BytesToInt16(const std::vector<BYTE>& _bytevec, const uint32_t& _from);
    std::vector<BYTE> Int16ToBytes(const uint16_t& _i);
    uint32_t BytesToInt32(const std::vector<BYTE>& _bytevec, const uint32_t& _from);
    std::vector<BYTE> Int32ToBytes(const uint32_t& _i);
    void UpdateStatus();

    void SetVelocity(const uint16_t& _vel);

public:
    XYZControlSutter(void);

    ~XYZControlSutter(void);

    void Initialize(parameters::XYZControlSutter& _params);

    void UpdatePositionValues() override;

    void SetZero() override;

    void MoveRelative(const double& _xrel, const double& _yrel, const double& _zrel) override;

    void MoveAbsolute(const double& _xabs, const double& _yabs, const double& _zabs) override;

};

}

#endif