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

//速度的类型
enum ESpeedType
{
    _SpeedType_Org=0,//原点速度
    _SpeedType_Move,//空移速度
    _SpeedType_Work,//工作速度
};
//组运动速度参数
class PCI1245_SpeedParam
{
public:
       PCI1245_SpeedParam(void)
       {
             m_Acc = 50;
             m_Dec = 50;
             m_VelLow = 20;
             m_VelHigh = 50;
       };
public:
       double	m_Acc;//加速度
	double	m_Dec;//减速度
	double	m_VelLow;//最低速度(mm/s)
	double	m_VelHigh;//运行速度(mm/s)
};

class CPci1245IOPort
{
public:
       CPci1245IOPort(void)
       {
             m_AsixNum = -1;//轴编号
             m_PortNum = -1;//端口号
             m_bRev = false;//是否反向
       };
public:
       int            m_AsixNum;//轴编号
       int            m_PortNum;//端口号
       bool          m_bRev;//是否反向
};

class CMotor;
//研华PCI1245 PCI 运动控制卡
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 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);
      bool FindOriginExt(CMotor &Motor);
      CMFCPropertyGridProperty* CreatSpeedGridProperty(PCI1245_SpeedParam &SpeedParam,CString SpeedName,CString ValName);
private:
      bool                               m_bUsed;//是否使用
      bool                               m_bInited;//是否被正常初始化
      bool                               m_bArcCut;//圆弧插补
      bool                               m_bGroupAisxRev;//插补轴调换
      bool                               m_bAutoCloseSevon;//关闭程序时自动关闭sevon
      int                                 m_MotorXAsixIdx;//X轴对应的轴编号
      int                                 m_MotorX2AsixIdx;//X2 轴对应的轴编号
      int                                 m_MotorYAsixIdx;//Y轴对应的轴编号
      int                                 m_MotorZAsixIdx;//Z轴对应的轴编号

      bool                               m_bMotorXMoveStop;//轴是否运动停止
      bool                               m_bMotorX2MoveStop;//
      bool                               m_bMotorYMoveStop;//
      bool                               m_bMotorZMoveStop;//
      bool                               m_XYFindOriginByLimit;//XY轴通过找极限来找原点(汕尾信利6台机)
      int                                 m_CheckDelay;//等待电机运动时检测延时ms

      PCI1245_SpeedParam       m_OrgSpeedMotorZ;//Z轴原点速度
      PCI1245_SpeedParam       m_MoveSpeedMotorZ;//Z轴移动速度
      PCI1245_SpeedParam       m_OrgSpeedMotorXY;//X轴原点速度
      PCI1245_SpeedParam       m_MoveSpeedMotorX;//X轴空移速度
      PCI1245_SpeedParam       m_WorkSpeedMotorX;//X轴工作速度
      PCI1245_SpeedParam       m_MoveSpeedMotorY;//X轴空移速度
      PCI1245_SpeedParam       m_WorkSpeedMotorY;//X轴工作速度

      CPci1245IOPort                m_InPortUnload;//下料机保护信号
      
      bool                               m_bCheckActCoord;//是否检测实际光栅尺的坐标
      double                           m_MaxActCoordErr;//允许最大光栅尺误差脉冲个数
      HAND	m_Devhand;//设备句柄
      HAND	m_Axishand[32];//轴的句柄数组
      DEVLIST	m_avaDevs[MAX_DEVICES];
      double	m_End[32];
      int          m_CurGpIdx;//当前使用的组编号
      HAND        m_GpHand;//组的句柄
      ULONG	m_ulAxisCount;//轴的数量
      
      BOOL   m_bServoOn;
      DWORD m_dwDevNum;//设备编号
      BOOL m_bInit;
      USHORT AxisArray[32];
      USHORT AxCount;
      UINT m_EndNum;
};
extern MotionCard_PCI1245 *gMotionCard_PCI1245;