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#pragma once
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#define CORE_NUM 1
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#define CYCLIC_SYNC_POSITION 8 //<2F><><EFBFBD><EFBFBD>ģʽΪѭ<CEAA><D1AD><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD><EFBFBD>ģʽ
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#include <windows.h>
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#include <vector>
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#include "IGugaoDriver.h"
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#include "Logger.h"
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class _declspec(dllexport) CGugaoDriver : public IGugaoDriver
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{
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public:
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CGugaoDriver();
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~CGugaoDriver();
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public:
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virtual bool OpenCard(std::vector<int>& axisIdVec);
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virtual bool CloseCard(std::vector<int>& axisIdVec);
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virtual int AbsMove(int iAxisId,
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int pulseTo1mm,
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double dPos,
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double dAcc,
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double dDec,
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double dMoveSpeed,
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bool bWaitFinished);
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virtual int WriteIO(short sSlaveNo, short sIoIndex, unsigned char ucValue);
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virtual int WriteAO(short sSlaveNo, short sIoIndex, short sValue); //<2F><><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD>
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virtual short ReadDo(short sSlaveNo, short sIoIndex);
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virtual unsigned char ReadDi(short sSlaveNo, short sIoIndex);
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virtual double GetCurPos(int iAxisId, int pulseTo1mm);
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virtual void stopMove(int iAxisId);
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virtual int home(int iAxisId, double dSearchSpeed, double iIndexSpeed, double sSearchAcc, short sModule);
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//״̬<D7B4>ж<EFBFBD>
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virtual bool IsHome(int iAxisId);
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virtual bool IsHoming(int iAxisId);
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virtual bool IsMoveing(int iAxisId);
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virtual bool IsMoveEnd(int iAxisId);
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virtual bool IsAxisEnable(int iAxisId);
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virtual bool IsAxisError(int iAxisId);
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virtual bool GetAxisErrorCode(int iAxisId);
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virtual bool IsAxisPaslimit(int iAxisId);
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virtual bool isAxisNagLimit(int iAxisId);
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private:
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bool m_open = false;
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};
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