package org.reprap.devices;

import java.io.IOException;
import org.reprap.utilities.Debug;
import org.reprap.AxisMotor;
import org.reprap.ReprapException;
import org.reprap.devices.GenericStepperMotor;

public class NullStepperMotor extends GenericStepperMotor {

	/**
	 * @param motorId
	 */
	public NullStepperMotor(int motorId) {
		super(null, motorId);
	}

	/**
	 * Is the comms working?
	 * @return
	 */
	public boolean isAvailable()
	{
		return true;
	}
	
	public boolean wasAvailable()
	{
		return true;
	}
	

	
	public void refreshPreferences()
	{
	}

	
	/**
	 * Dispose of this object
	 */
	public void dispose() {
	}
	
	
	/**
	 * 
	 *
	 */
	public void waitTillNotBusy() throws IOException
	{
		return;	
	}	
	
	/**
	 * Add an XY point to the firmware buffer for plotting
	 * Only works for recent firmware.
	 * 
	 * @param endX
	 * @param endY
	 * @param movementSpeed
	 * @return
	 */
	public boolean queuePoint(int endX, int endY, int movementSpeed, int control) throws IOException 
	{
		return false;
	}
	
	/**
	 * Set the motor speed (or turn it off) 
	 * @param speed A value between -255 and 255.
	 * @throws ReprapException
	 * @throws IOException
	 */
	public void setSpeed(int speed) throws IOException {
		Debug.d(axis + " axis - setting speed: " + speed);
	}

	/**
	 * @throws IOException
	 */
	public void setIdle() throws IOException {
		Debug.d(axis + " axis - going idle.");
	}
	
	/**
	 * @throws IOException
	 */
	public void stepForward() throws IOException {
		Debug.d(axis + " axis - stepping forward.");		
	}
	
	/**
	 * @throws IOException
	 */
	public void stepBackward() throws IOException {
		Debug.d(axis + " axis - stepping backward.");
	}
	
	/**
	 * @throws IOException
	 */
	public void resetPosition() throws IOException {
		setPosition(0);
	}
	
	/**
	 * @param position
	 * @throws IOException
	 */
	public void setPosition(int position) throws IOException {
		Debug.d(axis + " axis - setting position to: " + position);	
	}
	
	/**
	 * @return current position of the motor
	 * @throws IOException
	 */
	public int getPosition() throws IOException {
		int value = 0;
		Debug.d(axis + " axis - getting position.  It is... ");
		Debug.d("..." + value);		
		return value;
	}
	
	/**
	 * @param speed
	 * @param position
	 * @throws IOException
	 */
	public void seek(int speed, int position) throws IOException {
		Debug.d(axis + " axis - seeking position " + position + " at speed " + speed);
	}

	/**
	 * @param speed
	 * @param position
	 * @throws IOException
	 */
	public void seekBlocking(int speed, int position) throws IOException {
		Debug.d(axis + " axis - seeking-blocking position " + position + " at speed " + speed);
	}

	/**
	 * @param speed
	 * @return range of the motor
	 * @throws IOException
	 * @throws InvalidPayloadException
	 */
	public AxisMotor.Range getRange(int speed) throws IOException {
		Debug.d(axis + " axis - getting range.");
		return new AxisMotor.Range();
	}
	
	/**
	 * @param speed
	 * @throws IOException
	 * @throws InvalidPayloadException
	 */
	public void homeReset(int speed) throws IOException {
		Debug.d(axis + " axis - home reset at speed " + speed);
	}
	
	/**
	 * @param syncType
	 * @throws IOException
	 */
	public void setSync(byte syncType) throws IOException {
		Debug.d(axis + " axis - setting sync to " + syncType);
	}
	
	/**
	 * @param speed
	 * @param x1
	 * @param deltaY
	 * @throws IOException
	 */
	public void dda(int speed, int x1, int deltaY) throws IOException {
		Debug.d(axis + " axis - dda at speed " + speed + ". x1 = " + x1 + ", deltaY = " + deltaY);
	}
	
//	/**
//	 * @throws IOException
//	 */
//	private void setNotification() throws IOException {
//		Debug.d(axis + " axis - setting notification on.");
//	}

//	/**
//	 * @throws IOException
//	 */
//	private void setNotificationOff() throws IOException {
//		Debug.d(axis + " axis - setting notification off.");
//	}

	/**
	 * 
	 * @param maxTorque An integer value 0 to 100 representing the maximum torque percentage
	 * @throws IOException
	 */
	public void setMaxTorque(int maxTorque) throws IOException {
		Debug.d(axis + " axis - setting maximum torque to: " + maxTorque);
	}
	
}