#pragma once

#define CORE_NUM 1
#define CYCLIC_SYNC_POSITION 8 //操作模式为循环运动操作模式

#include <windows.h>
#include <vector>
#include "IGugaoDriver.h"
#include "Logger.h"
class _declspec(dllexport) CGugaoDriver : public IGugaoDriver
{
public:
	CGugaoDriver();
	~CGugaoDriver();

public:
	virtual bool OpenCard(std::vector<int>& axisIdVec); 
	virtual bool CloseCard(std::vector<int>& axisIdVec);
	virtual int AbsMove(int iAxisId,
		int pulseTo1mm,
		double dPos,
		double dAcc,
		double dDec,
		double dMoveSpeed,
		bool bWaitFinished);
	virtual int WriteIO(short sSlaveNo, short sIoIndex, unsigned char ucValue);
	virtual int WriteAO(short sSlaveNo, short sIoIndex, short sValue); //设置模拟量
	virtual short ReadDo(short sSlaveNo, short sIoIndex);
	virtual unsigned char ReadDi(short sSlaveNo, short sIoIndex);
	virtual double GetCurPos(int iAxisId, int pulseTo1mm);
	virtual void stopMove(int iAxisId);
	virtual int home(int iAxisId, double dSearchSpeed, double iIndexSpeed, double sSearchAcc, short sModule);

	//状态判断
	virtual bool IsHome(int iAxisId);
	virtual bool IsHoming(int iAxisId);
	virtual bool IsMoveing(int iAxisId);
	virtual bool IsMoveEnd(int iAxisId);
	virtual bool IsAxisEnable(int iAxisId);
	virtual bool IsAxisError(int iAxisId);
	virtual bool GetAxisErrorCode(int iAxisId);
	virtual bool IsAxisPaslimit(int iAxisId);
	virtual bool isAxisNagLimit(int iAxisId);

private:
	bool m_open = false;
};