/**
 *                    
 * @author greg (at) myrobotlab.org
 *  
 * This file is part of MyRobotLab (http://myrobotlab.org).
 *
 * MyRobotLab is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 2 of the License, or
 * (at your option) any later version (subject to the "Classpath" exception
 * as provided in the LICENSE.txt file that accompanied this code).
 *
 * MyRobotLab is distributed in the hope that it will be useful or fun,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * All libraries in thirdParty bundle are subject to their own license
 * requirements - please refer to http://myrobotlab.org/libraries for 
 * details.
 * 
 * Enjoy !
 * 
 * */

package org.myrobotlab.service.interfaces;

public interface ServoControl extends DeviceControl {
	
	
  // FIXME - do we want to support this & what do we expect from
	// 1. should it be energized when initially attached?
	// 2. should the position be set initially on attach ?
	// 3. should rest be set by pos if its not set already .. ie .. is the pos passed in on attach the "rest" position of the servo ?
	// 4. should we 'please' rename servo.attach(pin) to servo.energize(pin) !!!!
	void attach(ServoController controller, int pin) throws Exception;
	
	// preferred - sets control
	void attach(ServoController controller, int pin, Integer pos) throws Exception;

	void detach(ServoController controller);
	
	// added since it's used by the ServoGUI
	void attach(String controllerName, int pin) throws Exception;
  void detach(String controllerName);
	/**
	 * Re-attaches (re-energizes) the servo on its current pin
	 * FIXME - should be renamed to energize
	 * 
	 * @return
	 */
	public void attach();

	/**
	 * Re-attaches (re-energizes) the servo on its current pin
	 * FIXME - should be renamed to energize(pin)
	 * @return
	 */
	public void attach(int pin);

	/**
	 * calls Servo.detach() on MRLComm
	 * FIXME - should be renamed to de-energize (heh .. hyphons :P)
	 * @return
	 */
	public void detach();

	/**
	 * Moves the servo to a specific location. Typically, a servo has 0 to 180
	 * positions - each increment corresponding to a degree
	 * 
	 * @param newPos
	 */
	public void moveTo(int newPos);

	/**
	 * limits input of servo - to prevent damage or problems if servos should
	 * not move thier full range
	 * 
	 * @param max
	 */
	public void setMinMax(int min, int max);

	/**
	 * fractional speed settings
	 * 0.0 to 1.0 
	 * 
	 * @param speed
	 */
	public void setSpeed(double speed);

	/**
	 * stops the servo if currently in motion servo must be moving at
	 * incremental speed for a stop to work (setSpeed < 1.0)
	 */
	public void stop();


	/**
	 * configuration method - a method the controller will call when the servo
	 * is attached.
	 * 
	 * What should happen is if (controller != null) { pin =
	 * controller.servoGetPin(); } return pin; This returns the pin info the
	 * controller has - updates the Servo's pin and returns the refreshed data.
	 * Not worth it. What will happen is the pin which was set on the servo will
	 * simply be returned
	 * 
	 * @return
	 */
	public Integer getPin();
	
	/**
	 * a default position for the servo
	 * @param rest
	 */
	public void setRest(int rest);
	
	/**
	 * command to move to the rest position
	 */
	public void rest();

	/**
	 * minimal sweep position
	 * sweep data need for the controller
	 * @return
	 */
	public int getSweepMin();

	/**
	 * max sweep position
	 * sweep data need for the controller
	 * @return
	 */
	public int getSweepMax();

	/**
	 * sweep step
	 * sweep data need for the controller
	 * @return
	 */
	public int getSweepStep();

	/**
	 * the calculated output for the servo
	 */
	public Integer getTargetOutput();

	public double getSpeed();

  public int getMaxVelocity();

  int getVelocity();

  void attach(String controllerName, int pin, Integer pos) throws Exception;

  void attach(ServoController controller, int pin, Integer pos, Integer velocity) throws Exception;

  void attach(String controllerName, int pin, Integer pos, Integer velocity) throws Exception;

}