namespace RobotNet10.CANOpen.CiA402.Models;

public readonly struct Controlword
{
    public ushort Value { get; init; }
    
    public Controlword(ushort value)
    {
        Value = value;
    }
    
    public bool SwitchOn => (Value & 0x0001) != 0;
    public bool EnableVoltage => (Value & 0x0002) != 0;
    public bool QuickStop => (Value & 0x0004) != 0;
    public bool EnableOperation => (Value & 0x0008) != 0;
    public bool FaultReset => (Value & 0x0080) != 0;
    public bool Halt => (Value & 0x0100) != 0;
    
    public static Controlword Shutdown => new(0x0006);
    public static Controlword SwitchOnCmd => new(0x0007);
    public static Controlword DisableVoltage => new(0x0000);
    public static Controlword QuickStopCmd => new(0x0002);
    public static Controlword DisableOperation => new(0x0007);
    public static Controlword EnableOperationCmd => new(0x000F);
    public static Controlword FaultResetCmd => new(0x0080);
    
    public override string ToString() => $"0x{Value:X4}";
    
    public static implicit operator ushort(Controlword cw) => cw.Value;
    public static implicit operator Controlword(ushort value) => new(value);
}