update APS initial

iodll/Include/InputControllerBase.h

@@ -14,7 +14,7 @@ class CInputBase;
 class CInputControllerBase : public CCard
 {
 public:
-    CInputControllerBase(std::string csMutexName);
+    CInputControllerBase(const std::string& csMutexName);
     virtual ~CInputControllerBase();
 
     void RegisterInput(const CInputSetting& inputSetting, CInputBase* pInput);

iodll/Include/MotionControllerBase.h

@@ -17,7 +17,9 @@ protected:
     int         m_CardType{ -1 };
     int         m_nNoOfCard{ 0 };
     int         m_index{ 0 };
-    std::string m_szCardName{ "" };
+    std::string m_strCardName{ "" };
+
+    std::vector<int> m_vecInitializedCards; // keep track of initialized card ids handled by APS library
 
 public:
     CMotionControllerBase(int index, const std::string& pMutexName);
@@ -25,7 +27,9 @@ public:
 
     void               SetCardInfo(int nCardType, const std::string& cardName);
     int                GetCardType() const;
-    std::string  GetCardName() const;
+    const std::string& GetCardName() const;
+
+    std::vector<int> GetInitializedCards() const;
 
     virtual BOOL Init(int& nNoOfMtr) = 0;
     virtual void Close();

iodll/Include/MotionControllerFactory.h

@@ -11,14 +11,15 @@ class CMtrProfile;
 class IODLLCLASS CAbstractMotionControllerFactory
 {
 private:
-    int   m_cardType;
+    int         m_cardType{ -1 };
-    char *m_cardName;
+    std::string m_cardName;
+
 public:
-    CAbstractMotionControllerFactory(int cardType, char* m_cardName);
+    CAbstractMotionControllerFactory(int cardType, const std::string& m_cardName);
     virtual ~CAbstractMotionControllerFactory();
     virtual CMotionControllerBase* CreateMotionController(int index) = 0;
-    int                            GetCardType();
+    int                            GetCardType() const;
-    char                         * GetCardName();
+    const std::string&             GetCardName() const;
 };
 
 /**
@@ -32,14 +33,15 @@ class IODLLCLASS CMotionControllerFactory
 {
 private:
     CMotionControllerFactory(void);
+
 public:
     virtual ~CMotionControllerFactory(void);
     static CMotionControllerFactory& Instance();
     void                             AddFactory(CAbstractMotionControllerFactory* pFactory);
     void                             RemoveFactory(CAbstractMotionControllerFactory* pFactory);
-    CMotionControllerBase           *CreateMotionController(int index, const char* cardName);
+    CMotionControllerBase*           CreateMotionController(int index, const std::string& cardName);
     CMotionControllerBase*           CreateMotionController(int index, int cardType);
-    int                              GetCardType(const char* cardName);
+    int                              GetCardType(const std::string& cardName);
 };
 
 /**

iodll/Include/MotionController_ADLINK_APS.h

@@ -25,6 +25,9 @@ public:
     void Close() override;
 
 private:
+    std::vector<int> BitsToCardIds(int cardIDBits);
+
     BOOL Init_7856(int nCardID, CHardwareCfgFactory& cfgFty, int nCfgMotionNumber, int nCfgCardNumber, int& nNoOfMtr);
     BOOL Init_ECAT(int nCardID, CHardwareCfgFactory& cfgFty, int nCfgMotionNumber, int nCfgCardNumber, int& nNoOfMtr);
+
 };

iodll/Include/OutputControllerBase.h

@@ -13,7 +13,7 @@ class COutputBase;
 class COutputControllerBase : public CCard
 {
 public:
-    COutputControllerBase(std::string csMutexName);
+    COutputControllerBase(const std::string& csMutexName);
     virtual ~COutputControllerBase();
 
     void RegisterOutput(const COutputSetting& outputSetting, COutputBase* pOutput);