#pragma once

#include <functional>
#include <vector>
class _declspec(dllexport) IGugaoDriver {
public:
	using OnAxisMoveSafeCallBack = std::function<bool(int iAxisId, double dTargetPos)>;
	using OnAxisPrevHomeCallBack = std::function<bool(int iAxisId)>;
	using OnAxisAfterHomeCallBack = std::function<bool(int iAxisId)>;
	using OnSetIoSafeCallBack = std::function<bool(int iIoIndex, unsigned char iIoData)>;

public:
	void RegisterAxisMoveSafeCallBack(OnAxisMoveSafeCallBack const& func) { m_onAxisMoveSafeFunc = func; }
	void RegisterAxisPrevHomeCallBack(OnAxisPrevHomeCallBack const& func) { m_onAxisPrevHomeFunc = func; }
	void RegisterAxisAfterHomeCallBack(OnAxisAfterHomeCallBack const& func) { m_AxisAfterHomeFunc = func; }
	void RegisterSetIoSageCallBack(OnSetIoSafeCallBack const& func) {m_onSetIoSafeFunc = func;}

public:
	virtual bool OpenCard(std::vector<int>& axisIdVec) = 0;
	virtual bool CloseCard(std::vector<int>& axisIdVec) = 0;
	virtual int AbsMove(int iAxisId,
		int pulseTo1mm,
		double dPos, 
		double dAcc, 
		double dDec, 
		double dMoveSpeed, 
		bool bWaitFinished) = 0;
	virtual int WriteIO(short sSlaveNo, short sIoIndex, unsigned char ucValue) = 0;
	virtual int WriteAO(short sSlaveNo, short sIoIndex, short sValue) = 0; //ÉèÖÃÄ£ÄâÁ¿
	virtual short ReadDo(short sSlaveNo, short sIoIndex) = 0;
	virtual unsigned char ReadDi(short sSlaveNo, short sIoIndex) = 0;
	virtual double GetCurPos(int iAxisId, int pulseTo1mm) = 0;
	virtual void stopMove(int iAxisId) = 0;
	virtual int home(int iAxisId, double dSearchSpeed, double iIndexSpeed, double sSearchAcc, short sModule) = 0;
	
	//״̬ÅжÏ
	virtual bool IsHome(int iAxisId) = 0;
	virtual bool IsHoming(int iAxisId) = 0;
	virtual bool IsMoveing(int iAxisId) = 0;
	virtual bool IsMoveEnd(int iAxisId) = 0;
	virtual bool IsAxisEnable(int iAxisId) = 0;
	virtual bool IsAxisError(int iAxisId) = 0;
	virtual bool GetAxisErrorCode(int iAxisId) = 0;
	virtual bool IsAxisPaslimit(int iAxisId) = 0;
	virtual bool isAxisNagLimit(int iAxisId) = 0;

protected:
	OnAxisMoveSafeCallBack m_onAxisMoveSafeFunc = nullptr;
	OnAxisPrevHomeCallBack m_onAxisPrevHomeFunc = nullptr;
	OnAxisAfterHomeCallBack m_AxisAfterHomeFunc = nullptr;
	OnSetIoSafeCallBack m_onSetIoSafeFunc = nullptr;
};