#ifndef NODE_APPLICATION_H
#define NODE_APPLICATION_H

#include <stdint.h>
#include "node_types.h"

class NodeApplication
{
public:
    virtual ~NodeApplication() {}

    // NMT
    virtual void to_initialization() = 0;
    virtual void to_pre_operational() = 0;
    virtual void to_operational() = 0;
    virtual void to_stopped() = 0;
    virtual void reset_parameters() = 0;
    virtual NodeState get_state() const = 0;

    // 0x2000
    virtual void select_controller(ControllerType type) = 0;
    virtual ControllerType get_controller_type() const = 0;

    // 0x2001
    virtual void set_Kp(double value) = 0;
    virtual double get_Kp() const = 0;

    // 0x2002
    virtual bool set_Ti(double value) = 0;
    virtual double get_Ti() const = 0;

    // 0x2010
    virtual double get_duty_percent() const = 0;

    // 0x606C
    virtual double get_actual_rpm() const = 0;

    // 0x6083
    virtual void set_profile_acceleration(uint32_t value) = 0;
    virtual uint32_t get_profile_acceleration() const = 0;
    // 0x6084
    virtual void set_profile_deceleration(uint32_t value) = 0;
    virtual uint32_t get_profile_deceleration() const = 0;

    // 0x60FF (RPDO1)
    virtual void set_target_rpm(double value) = 0;
    virtual double get_target_rpm() const = 0;

};

#endif