#pragma once
#include "Command.h"
#include <string>

union MitsubishiValue
{
	unsigned char bvalue[4];
	int ivalue;
};

union SanyoValue_Int64
{
	unsigned char bvalue[8];
	int64_t lvalue;
};

union SanyoValue_Short
{
	unsigned char bvalue[2];
	short svalue;
};

class MitsubishiCommand:public Command
{
public:
	MitsubishiCommand(unsigned char addr);
	~MitsubishiCommand();
	int GetRequestSequence(unsigned char* bseq);
	bool Verify(unsigned char* buffer, int len);

	unsigned char GetAddr() { return m_addr; }
	int GetPositionValue() { return m_value; }

protected:
	unsigned char m_addr;
	int m_value;
};

class SanyoCommand :public Command
{
public:
	SanyoCommand(unsigned char addr, std::string ctrl, std::string code, std::string group, std::string param);
	virtual ~SanyoCommand();
	virtual int GetRequestSequence(unsigned char* bseq);
	virtual bool Verify(unsigned char* buffer, int len) { return false; }
	int ConstReturnSize();
	unsigned char GetAddr() { return m_addr; }
protected:
	unsigned char m_addr;
	std::string m_ctrl;
	std::string m_code;
	std::string m_group;
	std::string m_param;
	int m_ResponseLength;
};

class SanyoReadEncoderPosCommand :public SanyoCommand
{
public:
	SanyoReadEncoderPosCommand(unsigned char addr, std::string ctrl, std::string code, 
		std::string group, std::string param);
	~SanyoReadEncoderPosCommand();
	long GetPositionValue() { return m_value; }
	bool Verify(unsigned char* buffer, int len);

private:
	long m_value;
	short m_cycles;
	int m_singal;
public:
	static const int ABS_CYCLE = 131072;
};

class SanyoReadLoadTorqueCommand:public SanyoCommand
{
public:
	SanyoReadLoadTorqueCommand(unsigned char addr, std::string ctrl, std::string code, std::string group, std::string param);
	~SanyoReadLoadTorqueCommand();
	bool Verify(unsigned char* buffer, int len);
	short GetValue() { return m_Value; }
private:
	short m_Value;
};

class SanyoReadAlarmCommand :public SanyoCommand
{
public:
	SanyoReadAlarmCommand(unsigned char addr, std::string ctrl, std::string code);
	~SanyoReadAlarmCommand();
	bool Verify(unsigned char* buffer, int len);
	int GetValue() { return m_Value; }
	int GetRequestSequence(unsigned char* bseq);
private:
	int m_Value;
};

class SiemensCommand :public Command 
{
public:
	SiemensCommand(unsigned char addr);
	~SiemensCommand();
	int GetRequestSequence(unsigned char* bseq);
	bool Verify(unsigned char* buffer, int len);

	unsigned char GetAddr() { return m_addr; }
	long GetPositionValue() { return m_value; }
protected:
	unsigned char m_addr;
	long m_value;

private:
	
};