#pragma once
#include "PciCh365Mgr.h"
#include "Module.h"
#include "Observer.h"
#include "EnumPropertieType.h"
#include "Subject.h"


#define MOTOR_X          _T("X") //电机X
#define MOTOR_X2          _T("X2") //电机X2
#define MOTOR_Y          _T("Y") //电机Y
#define MOTOR_Z          _T("Z") //电机Z

//电机马达类
class CMotor
:public CModule,public CObserver,public CSubject
{
public:
	CMotor(CString Name);
	virtual ~CMotor(void);
	virtual void Ini();
	virtual MODULE GetModuleType(){return _MOTOR_PROP;};
	virtual void ExportPar(ofstream  *pFile);
	virtual CMFCPropertyGridProperty *CreatGridProperty();
        virtual void Update();//收到属性变化的处理
public:
	void SetPciPortType(CString DirPortType,CString PulsePortType,CString LimitPortType_F,CString LimitPortType_N);
	void SetDirPort(SPciPort Port){m_DirPort = Port;};
	void SetPulsePort(SPciPort Port){m_PulsePort = Port;};
	bool MoveOnePluse(unsigned int Delay = 0);
	void SetDir(bool b);//设置方向(b 为true 表示正向)
	double GetOnePulseDis(){return m_OnePulseDis;};
	bool FindOrigin(bool bSavePulseCnt = false);
	CString Name(){return m_Name;};
	bool IsLimitOn();
	bool MoveToOriginOffset(double AdjustVal = 0);
        bool SendSerialPulses(double TotalCnt,double &PulseCnt,unsigned int Delay);
        unsigned int GetDelay(bool bWork);
        void MoveByPluse(double PulseCnt,bool bWork);
        double GetCoord(){return m_Coord;};
        double GetCoord2();
        void SetCoord(double Coord){m_Coord = Coord;};
        void MoveToCoord(double Coord);
        void MoveDis(double dis);
        static CMotor *GetMotor(CString Name);
        void SetMoveDelay(unsigned int n){m_MoveDelay = n;};
        void SetWorkDelay(unsigned int n){m_WorkDelay = n;};
        double GetOriginOffsetDis(){return m_OriginOffsetDis;};
        void SetOriginOffsetDis(double n){m_OriginOffsetDis = n;};
        void NeedCheckFiber(){m_bCheckFiber = true;}
        void SetAsixIdx(int idx){m_AsixIdx = idx;};
        int GetAsixIdx(){return m_AsixIdx;};
        bool IsbReverseDir(){return m_bReverseDir;};
        bool IsbReverseMoveFirst(){return m_bReverseMoveFirst;};
        double GetReverseMoveDis(){return m_bReverseMoveDis;};
        bool GetFindOriginDir(){return m_FindOriginDir;};
        bool IsbRevActCoordDir(){return m_bRevActCoordDir;};
private:
       void MoveByPluseAccelerate(double PulseCnt,bool bWork);
       void MoveByPluseNoAccelerate(double PulseCnt,bool bWork);
       double MoveDeviateLimit(unsigned int Delay);
       void SetCurLimitPortByDir(bool bForward);
       void OnMotorLimit();
private:
      static CMotor                                   *gMotorX;//X 轴电机
      static CMotor                                   *gMotorX2;//X 轴电机
      static CMotor                                   *gMotorY;//Y 轴电机
      static CMotor                                   *gMotorZ;//Z 轴电机

      CString                       m_Name;//马达的名字
      CString                       m_DirPortType;//方向
      CString                       m_PulsePortType;//脉冲
      CString                       m_LimitPortType_F;//正限位
      CString                       m_LimitPortType_N;//负限位

      int                              m_AsixIdx;//在运动控制卡中的编号
//pci 卡端口参数--------------------------------------------------------
      SPciPort                      m_DirPort;//方向端口
      SPciPort                      m_PulsePort;//脉冲端口
      SPciPort                      m_LimitPort_F;//正限位端口
      SPciPort                      m_LimitPort_N;//负限位端口
      SPciPort                      m_OriginPort;//原点端口
      SPciPort                      m_CurLimitPort;//当前需要检查的限位端口
//UPK CO2 用的对射光纤
      bool                           m_bCheckFiber;//时候检测光纤
      SPciPort                      m_FiberPort1;//光纤端口1
      SPciPort                      m_FiberPort2;//光纤端口2
//需要保存的参数-----------------------------------------------------
      double                        m_OnePulseDis;//一个脉冲的理论移动距离(mm)
//找原点参数-----------------------------------------------------
      bool                            m_FindOriginDir;//找原点的方向(true 为向正,false 为向负)
      double                        m_OriginOffsetDis;//原点的反方向移动距离(mm)
      double                        m_MaxOriginOffsetDis;//原点的反方向最大移动距离(mm) -- 主要是保护硬件
      double                        m_MaxPulseCnt;//找原点时最大脉冲,目的是为了防止硬件故障造成死循环
      int                              m_FindOriginDelay;//找到原点后的等待延时(ms) 避免伺服电机的纠正过程
      unsigned int                m_ReverseMoveDelay;//找到光电开关后反方向移动的延时us (直到关电开关为OFF )

      bool                            m_bReverseMoveFirst;//找原点之前是否先反向移动一段距离
      double                         m_bReverseMoveDis;//找原点之前先反向移动的距离mm
//速度参数--------------------------------------------------------------
      unsigned int                m_MoveDelay;//空移延时us
      unsigned int                m_WorkDelay;//正常工作时脉冲延时us
      unsigned int                m_OriginPulseDelay;//初始化找原点脉冲延时us
      bool                           m_bNeedCheckLimit;//电机在运行时刻是否检查限位开关
//加减速控制-----------------------------------------------------------
      bool                           m_bAccelerateCtrl;//是否加减速控制
      unsigned int                m_StartDelay;//初始速度延时us
      unsigned int                m_PerChangeDelay;//每次改变的延时us
//坐标管理-----------------------------------------------------------
      double                        m_Coord;//电机单轴的坐标值(mm)
      bool                            m_bReverseDir;//是否反向

      bool                            m_bRevActCoordDir;//光栅尺反向
};