#pragma once

#include <windows.h>
#include <algorithm>
#include "Logger.h"
#include "CGugaoDriver.h"
#include "Motor.h"
class _declspec(dllexport) CMotorDriver : public CGugaoDriver
{
public:
	CMotorDriver();
	~CMotorDriver();
	int Relmove(int motorId, double pos, bool waitFinished);
	int AbsmoveMulti(std::vector<int> motorIdVec, std::vector<double> posVec, bool waitFinished);
	int RelmoveMulti(std::vector<int> motorIdVec, std::vector<double> posVec, bool waitFinished);
	int Home(int motorId, bool waitFinished);
	int allAxisHome(std::vector<int> allAxisId, bool waitFinished);
	void ResetAxisErr(std::vector<int> axisId);

	int AddMotor(const MotorAttr& motor);
	int DeleteMotor(int motorId);
	int ModifyMotor(const MotorAttr& motor);
	MotorAttr QueryMotor(int motorId);
	void ClearAllAxis();

public:
	//重写
	double GetCurPos(int motorId);

public:
	std::vector<MotorAttr>* m_motor = nullptr; //所有电机的管理
	bool m_open = false;;//控制卡是否初始化成功
	const short m_gugaoCardCore = 1;
};