TwoLaserHead-PushJig/LaiPuLaser/MotionCard_PCI1245.h

#pragma once
#include "module.h"
#include "advmotdrv.h"
#include "General.h"
#include "AdvMotApi.h"

//<2F>ٶȵ<D9B6><C8B5><EFBFBD><EFBFBD><EFBFBD>
enum ESpeedType
{
    _SpeedType_Org=0,//ԭ<><D4AD><EFBFBD>ٶ<EFBFBD>
    _SpeedType_Move,//<2F><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
    _SpeedType_Work,//<2F><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
	_SpeedType_Org2th = 0,//<2F>ڶ<EFBFBD><DAB6><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><D4AD><EFBFBD>ٶ<EFBFBD>
};
//<2F><><EFBFBD>˶<EFBFBD><CBB6>ٶȲ<D9B6><C8B2><EFBFBD>
class PCI1245_SpeedParam
{
public:
       PCI1245_SpeedParam(void)
       {
             m_Acc = 50;
             m_Dec = 50;
             m_VelLow = 20;
             m_VelHigh = 50;
       };
public:
       double	m_Acc;//<2F><><EFBFBD>ٶ<EFBFBD>
	double	m_Dec;//<2F><><EFBFBD>ٶ<EFBFBD>
	double	m_VelLow;//<2F><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>(mm/s)
	double	m_VelHigh;//<2F><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>(mm/s)
};

class CPci1245IOPort
{
public:
       CPci1245IOPort(void)
       {
             m_AsixNum = -1;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
             m_PortNum = -1;//<2F>˿ں<CBBF>
             m_bRev = false;//<2F>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>
       };
public:
       int            m_AsixNum;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
       int            m_PortNum;//<2F>˿ں<CBBF>
       bool          m_bRev;//<2F>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>
};

class CMotor;
//<2F>л<EFBFBD>PCI1245 PCI <20>˶<EFBFBD><CBB6><EFBFBD><EFBFBD>ƿ<EFBFBD>
class MotionCard_PCI1245 :public CModule
{
public:
      MotionCard_PCI1245(void);
      ~MotionCard_PCI1245(void);
      virtual MODULE GetModuleType(){return _MOTION_CARD_PCI1245L;};
      virtual CMFCPropertyGridProperty *CreatGridProperty();
      virtual void Ini();
      virtual void OnExitApp();
      virtual void ExportPar(ofstream  *pFile);
      bool IsbUsed(){return m_bUsed;};
      Dbxy MovePlatformXY(Dbxy Coord);
      Dbxy GetPlatformXYCoord();
	  bool FindOriginExt(CMotor &Motor);
      bool FindOriginByLimit(CMotor &Motor);
      bool FindOrigin(CMotor &Motor);
      bool MoveToOriginOffset(CMotor &Motor);
      void SetCoord(Dbxy coord);
      bool MoveMotor(CMotor &Motor,double &Coord);
      double GetMotorCoord(CMotor &Motor);
      bool CheckFucCanUsed();
      bool IsbArcCut(){return m_bArcCut;};
      bool IsbInited(){return m_bInited;};
      void SetPlatformSpeed(bool bWorkSpeed);
      void SetCurGpIdx(int idx);
      int GetCurGpIdx(){return m_CurGpIdx;};
      void ResetAllAsixErr();
      void ResetAllAsixErrExt();
      void CheckAsixState();
      bool IsbMotorXMoveStop(){return m_bMotorXMoveStop;};
      bool IsbMotorX2MoveStop(){return m_bMotorX2MoveStop;};
      bool IsbMotorYMoveStop(){return m_bMotorYMoveStop;};
      bool IsbMotorZMoveStop(){return m_bMotorZMoveStop;};
      void SetMotorSpeed(CMotor &Motor,ESpeedType SpeedType);
      void SetSvOn(bool bOn);
      void ResetAllAsixCoord();
      double GetMotorActCoord(CMotor &Motor);
      bool CheckMotorActCoord(CMotor &Motor);
      bool CheckUnloadState();
private:
      int ReadIOState(CPci1245IOPort IOPort);
      bool InitCard();
      bool OpenCard();
      bool AddAsixToGroup(HAND &GpHand,UINT index);
      PCI1245_SpeedParam  MM2PulseParam(PCI1245_SpeedParam &SpeedParam,double OnePulseDis);
      void SetPlatformSpeedExt(PCI1245_SpeedParam GpParam) ;
      Dbxy MM2PulseCoord(Dbxy Coord);
      void WaitPlatfromStop();
      void LoadConfigFile();
      PCI1245_SpeedParam GetMotorSpeed(CMotor &Motor,ESpeedType SpeedType);
      bool CheckAsixStateExt(HAND AxisHandle);
      
      CMFCPropertyGridProperty* CreatSpeedGridProperty(PCI1245_SpeedParam &SpeedParam,CString SpeedName,CString ValName);
private:
      bool                               m_bUsed;//<2F>Ƿ<EFBFBD>ʹ<EFBFBD><CAB9>
      bool                               m_bInited;//<2F>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
      bool                               m_bArcCut;//Բ<><D4B2><EFBFBD>岹
      bool                               m_bGroupAisxRev;//<2F>岹<EFBFBD><E5B2B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
      bool                               m_bAutoCloseSevon;//<2F>رճ<D8B1><D5B3><EFBFBD>ʱ<EFBFBD>Զ<EFBFBD><D4B6>ر<EFBFBD>sevon
      int                                 m_MotorXAsixIdx;//X<><58><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
      int                                 m_MotorX2AsixIdx;//X2 <20><><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
      int                                 m_MotorYAsixIdx;//Y<><59><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
      int                                 m_MotorZAsixIdx;//Z<><5A><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>

      bool                               m_bMotorXMoveStop;//<2F><><EFBFBD>Ƿ<EFBFBD><C7B7>˶<EFBFBD>ֹͣ
      bool                               m_bMotorX2MoveStop;//
      bool                               m_bMotorYMoveStop;//
      bool                               m_bMotorZMoveStop;//
      bool                               m_XYFindOriginByLimit;//XY<58><59>ͨ<EFBFBD><CDA8><EFBFBD>Ҽ<EFBFBD><D2BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><D4AD>(<28><>β<EFBFBD><CEB2><EFBFBD><EFBFBD>6̨<36><CCA8>)
      int                                 m_CheckDelay;//<2F>ȴ<EFBFBD><C8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱms
	  int                                 m_HomeMode=6;//<2F><><EFBFBD>ð忨Home<6D><65><EFBFBD><EFBFBD>ʱ<EFBFBD>ķ<EFBFBD>ʽ.

      PCI1245_SpeedParam       m_OrgSpeedMotorZ;//Z<><5A>ԭ<EFBFBD><D4AD><EFBFBD>ٶ<EFBFBD>
      PCI1245_SpeedParam       m_MoveSpeedMotorZ;//Z<><5A><EFBFBD>ƶ<EFBFBD><C6B6>ٶ<EFBFBD>
      PCI1245_SpeedParam       m_OrgSpeedMotorXY;//X<><58>ԭ<EFBFBD><D4AD><EFBFBD>ٶ<EFBFBD>
      PCI1245_SpeedParam       m_MoveSpeedMotorX;//X<><58><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
      PCI1245_SpeedParam       m_WorkSpeedMotorX;//X<>Ṥ<EFBFBD><E1B9A4><EFBFBD>ٶ<EFBFBD>
      PCI1245_SpeedParam       m_MoveSpeedMotorY;//X<><58><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
      PCI1245_SpeedParam       m_WorkSpeedMotorY;//X<>Ṥ<EFBFBD><E1B9A4><EFBFBD>ٶ<EFBFBD>

      CPci1245IOPort                m_InPortUnload;//<2F><><EFBFBD>ϻ<EFBFBD><CFBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
public:
      bool                               m_bCheckActCoord;//<2F>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD>ʹ<EFBFBD>դ<EFBFBD>ߵ<EFBFBD><DFB5><EFBFBD><EFBFBD><EFBFBD>
private:
      double                           m_MaxActCoordErr;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>դ<EFBFBD><D5A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
      HAND	m_Devhand;//<2F>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
      HAND	m_Axishand[32];//<2F><><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
      DEVLIST	m_avaDevs[MAX_DEVICES];
      double	m_End[32];
      int          m_CurGpIdx;//<2F><>ǰʹ<C7B0>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
      HAND        m_GpHand;//<2F><><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD>
      ULONG	m_ulAxisCount;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
      
      BOOL   m_bServoOn;
      DWORD m_dwDevNum;//<2F>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
      BOOL m_bInit;
      USHORT AxisArray[32];
      USHORT AxCount;
      UINT m_EndNum;
};
extern MotionCard_PCI1245 *gMotionCard_PCI1245;