#include "StdAfx.h"
#include "WorkCmdWaitMotorStop.h"
#include "MotionCard_PCI1245.h"
#include "GlobalFunction.h"
#include "PlatformXY.h"
#include "DeviceState.h"
#include "Program_SZ_XL.h"
#include "ExceptionMsg.h"

CWorkCmdWaitMotorStop::CWorkCmdWaitMotorStop()
{
     m_bWaitMotorX = false;//检查轴是否运动停止
     m_bWaitMotorX2 = false;//
     m_bWaitMotorY = false;//
     m_bWaitMotorZ = false;//
     m_bCheckActCoord = false;//是否检测实际光栅尺的坐标
}
CWorkCmdWaitMotorStop::~CWorkCmdWaitMotorStop(void)
{
}
bool CWorkCmdWaitMotorStop::Excute()
{
    if(gLogMgr->IsDebuging())//调试状态只延时
    {
         Sleep(gLogMgr->GetDebugCmdDelay());
         return true;
    }

    Sleep(300);
    
    bool  bMotorXMoveStop = true;//轴是否运动停止
    bool  bMotorX2MoveStop = true;
    bool  bMotorYMoveStop = true;
    bool  bMotorZMoveStop = true;
    while(1)
    {
         
         if(m_bWaitMotorX)
         {
               bMotorXMoveStop = gMotionCard_PCI1245->IsbMotorXMoveStop();
         }
         if(m_bWaitMotorX2)
         {
               bMotorX2MoveStop = gMotionCard_PCI1245->IsbMotorX2MoveStop();
         }
         if(m_bWaitMotorY)
         {
               bMotorYMoveStop = gMotionCard_PCI1245->IsbMotorYMoveStop();
         }
         if(m_bWaitMotorZ)
         {
               bMotorZMoveStop = gMotionCard_PCI1245->IsbMotorZMoveStop();
         }
         //全部满足时退出
         if(bMotorXMoveStop && bMotorX2MoveStop && bMotorYMoveStop && bMotorZMoveStop)
             break;
         Sleep(100);
    }

    //更新电机的坐标
    if(m_bWaitMotorX)
    {
         CMotor &MotorX = *(CMotor::GetMotor(MOTOR_X));
         MotorX.SetCoord(gMotionCard_PCI1245->GetMotorCoord(MotorX));
    }
    if(m_bWaitMotorX2)
    {
         CMotor &MotorX2 = *(CMotor::GetMotor(MOTOR_X2));
         MotorX2.SetCoord(gMotionCard_PCI1245->GetMotorCoord(MotorX2));
    }
    if(m_bWaitMotorY)
    {
         CMotor &MotorY = *(CMotor::GetMotor(MOTOR_Y));
         MotorY.SetCoord(gMotionCard_PCI1245->GetMotorCoord(MotorY));
    }
    if(m_bWaitMotorZ)
    {
         CMotor &MotorZ = *(CMotor::GetMotor(MOTOR_Z));
         MotorZ.SetCoord(gMotionCard_PCI1245->GetMotorCoord(MotorZ));
    }

    CPlatformXY  &PlatformXY = *gPlatformXY;
    PlatformXY.NotifyObservers();

    Sleep(300);
    #if 0
    if(m_bCheckActCoord)//检查光栅尺坐标和命令坐标是否匹配
    {
         bool bRet = true;
         if(m_bWaitMotorX)
         {
              CMotor &MotorX = *(CMotor::GetMotor(MOTOR_X));
              bRet = gMotionCard_PCI1245->CheckMotorActCoord(MotorX);
         }
         if(m_bWaitMotorX2)
         {
              CMotor &MotorX2 = *(CMotor::GetMotor(MOTOR_X2));
              bRet = gMotionCard_PCI1245->CheckMotorActCoord(MotorX2);
         }
         if(m_bWaitMotorY)
         {
              CMotor &MotorY = *(CMotor::GetMotor(MOTOR_Y));
              bRet = gMotionCard_PCI1245->CheckMotorActCoord(MotorY);
         }
         if(!bRet)
         {
               //停止加工
               gProgram_SZ_XL->StopAutoWork();
               //取消初始化状态
               CDeviceState &DeviceState = CDeviceState::GetInstance();
               DeviceState.SetIniState(false);
               
               CString str = _T("光栅尺坐标反馈异常!");
               CExceptionMsg Msg;
               Msg.SetMsg(str);
               throw Msg;
         }
    }
    #endif
    return true;
}

void CWorkCmdWaitMotorStop::WirteLog()
{
     CString str1 = "[WorkCmd][WaitMotorStop]";
     gLogMgr->WriteDebugLog(str1);
}