#include "StdAfx.h"
#include "WorkCmdMovePlatformXY.h"
#include "ExceptionMsg.h"
#include "DeviceState.h"

CWorkCmdMovePlatformXY::CWorkCmdMovePlatformXY()
{
     m_bMoveByDir = false;//是否通过方向来移动平台
     m_bMoveByPulse = false;//是否通过方向脉冲个数来移动平台
     m_MoveDis = 0;//移动距离
     m_Work = false;//是否在工作(false 表示空移),主要是电机速度不一样
     m_MoveOrder = 0;
     m_bCheckIniState = false;//是否检查初始化状态
}
CWorkCmdMovePlatformXY::~CWorkCmdMovePlatformXY(void)
{
}
//将平台移动到指定点
bool CWorkCmdMovePlatformXY::Excute()
{
    if(gLogMgr->IsDebuging())//调试状态
    {
         Sleep(gLogMgr->GetDebugCmdDelay());
    }
    
    CPlatformXY  &PlatformXY = *gPlatformXY;
    if(m_bMoveByDir)//按距离移动
    {
         PlatformXY.MoveDistance(m_MoveDis,m_MoveDir);
    }
    else if(m_bMoveByPulse)//按脉冲移动
    {
         PlatformXY.MovePulseCnt(m_PulseCnt,m_MoveDir);
    }
    else//点到点移动
    {
         if(m_bCheckIniState)
         {
               CDeviceState &DeviceState = CDeviceState::GetInstance();
               if(!DeviceState.IsDeviceIni())
               {
                    CString str = _T("异常，平台未初始化!");
                    CExceptionMsg Msg;
                    Msg.SetMsg(str);
                    throw Msg; 
               }
         }
         PlatformXY.SetMoveOrder(m_MoveOrder);
         PlatformXY.Move(m_Work,m_MovePt,m_TargetPt);
    }
    SetAfterDelay(PlatformXY.GetMoveDelay());
    return true;
}
void CWorkCmdMovePlatformXY::WirteLog()
{
     if(m_bMoveByDir)
     {
          gLogMgr->WriteDebugLog(_T("[WorkCmd][平台移动] "),_T("距离mm"),m_MoveDis);
     }
     else if(m_bMoveByPulse)
     {
          gLogMgr->WriteDebugLog(_T("[WorkCmd][平台移动] "),_T("脉冲个数"),m_PulseCnt);
     }
     else
     {
          gLogMgr->WriteDebugLog(_T("[WorkCmd][MovePlatformXY] "),_T("MovePt.x"),_T("MovePt.y"),m_MovePt.x,m_MovePt.y);
          gLogMgr->WriteDebugLog(_T("[WorkCmd][MovePlatformXY] "),_T("m_TargetPt.x"),_T("m_TargetPt.y"),m_TargetPt.x,m_TargetPt.y);
     }
}
/*MovePt 是数据在平台上映射的实际坐标, 
TargetPt 是将MovePt 移动到TargetPt 的位置
*/
void CWorkCmdMovePlatformXY::MoveToTargetPt(Dbxy MovePt,Dbxy TargetPt)
{
     m_MovePt = MovePt;
     m_TargetPt = TargetPt;
}
//如果设置了移动距离和方向，则按照这种方式来移动
void CWorkCmdMovePlatformXY::MoveByDis(double MoveDis,DIRECTION MoveDir)
{
     m_bMoveByDir = true;
     m_MoveDis = MoveDis;
     m_MoveDir = MoveDir;
}
//脉冲移动
void CWorkCmdMovePlatformXY::MoveByPulseCnt(int PulseCnt,DIRECTION MoveDir)
{
     m_bMoveByPulse = true;
     m_PulseCnt = PulseCnt;
     m_MoveDir = MoveDir;
}