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use super::{instruction_id, read_response_if_not_broadcast};
use crate::{Bus, Response, TransferError};

use crate::endian::{write_u16_le, write_u32_le};

impl<ReadBuffer, WriteBuffer> Bus<ReadBuffer, WriteBuffer>
where
	ReadBuffer: AsRef<[u8]> + AsMut<[u8]>,
	WriteBuffer: AsRef<[u8]> + AsMut<[u8]>,
{
	/// Register a write of an arbitrary number of bytes, to be triggered later by an `action` command.
	///
	/// Only one write command can be registered per motor.
	///
	/// You can have all connected motors execute their registered write using [`Self::broadcast_action`],
	/// or a single motor using [`Self::action`].
	///
	/// You may specify [`crate::instructions::packet_id::BROADCAST`] as motor ID.
	/// If you do, none of the devices will reply with a response, and this function will not wait for any.
	pub fn reg_write(&mut self, motor_id: u8, address: u16, data: &[u8]) -> Result<Response<()>, TransferError> {
		self.write_instruction(motor_id, instruction_id::REG_WRITE, 2 + data.len(), |buffer| {
			write_u16_le(&mut buffer[0..], address);
			buffer[2..].copy_from_slice(data)
		})?;
		Ok(read_response_if_not_broadcast(self, motor_id)?)
	}

	/// Register a write command for a 8 bit value to a specific motor.
	///
	/// Only one write command can be registered per motor.
	///
	/// You can have all connected motors execute their registered write using [`Self::broadcast_action`],
	/// or a single motor using [`Self::action`].
	///
	/// You may specify [`crate::instructions::packet_id::BROADCAST`] as motor ID.
	/// If you do, none of the devices will reply with a response, and this function will not wait for any.
	pub fn reg_write_u8(&mut self, motor_id: u8, address: u16, value: u8) -> Result<Response<()>, TransferError> {
		self.write_instruction(motor_id, instruction_id::REG_WRITE, 2 + 1, |buffer| {
			write_u16_le(&mut buffer[0..], address);
			buffer[2] = value;
		})?;
		Ok(read_response_if_not_broadcast(self, motor_id)?)
	}

	/// Register a write command for a 16 bit value to a specific motor.
	///
	/// Only one write command can be registered per motor.
	///
	/// You can have all connected motors execute their registered write using [`Self::broadcast_action`],
	/// or a single motor using [`Self::action`].
	///
	/// You may specify [`crate::instructions::packet_id::BROADCAST`] as motor ID.
	/// If you do, none of the devices will reply with a response, and this function will not wait for any.
	pub fn reg_write_u16(&mut self, motor_id: u8, address: u16, value: u16) -> Result<Response<()>, TransferError> {
		self.write_instruction(motor_id, instruction_id::REG_WRITE, 2 + 2, |buffer| {
			write_u16_le(&mut buffer[0..], address);
			write_u16_le(&mut buffer[2..], value);
		})?;
		Ok(read_response_if_not_broadcast(self, motor_id)?)
	}

	/// Register a write command for a 32 bit value to a specific motor.
	///
	/// Only one write command can be registered per motor.
	///
	/// You can have all connected motors execute their registered write using [`Self::broadcast_action`],
	/// or a single motor using [`Self::action`].
	///
	/// You may specify [`crate::instructions::packet_id::BROADCAST`] as motor ID.
	/// If you do, none of the devices will reply with a response, and this function will not wait for any.
	pub fn reg_write_u32(&mut self, motor_id: u8, address: u16, value: u32) -> Result<Response<()>, TransferError> {
		self.write_instruction(motor_id, instruction_id::REG_WRITE, 2 + 4, |buffer| {
			write_u16_le(&mut buffer[0..], address);
			write_u32_le(&mut buffer[2..], value);
		})?;
		Ok(read_response_if_not_broadcast(self, motor_id)?)
	}
}