add Helical Path

iodll/Include/MotionPath.h

@@ -1,7 +1,25 @@
 #pragma once
 
+#include <array>
 #include <vector>
 
+constexpr double degToRad(double degrees)
+{
+    return degrees * (3.14159265 / 180.0);
+}
+
+using stHelixPosition = struct _stHelixPosition
+{
+    // MUST be 3 elements: X, Y, Z
+    std::array<double, 3> arrCenterPosition;
+    std::array<double, 3> arrNormal;
+    double                AngleDegree{ 0. }; // angle in degree
+    double                deltaHeight{ 0. }; // height change
+    double                endRadius{ 0. };   // end radius
+    //
+    unsigned long ulDwell{ 0 }; // dwell time in ms
+};
+
 using stPointPosition = struct _stPointPosition
 {
     // axis position for each point (number of position MUST match number of axis)
@@ -26,6 +44,7 @@ using stMotionPath = struct _stMotionPath
     // point path
     std::vector<int>             vecAxisId;    // list of axis id
     std::vector<stPointPosition> vecPointPath; // list of axis position for each point
+    std::vector<stHelixPosition> vecHelixPath; // list of helix position for each point
     // speed profile
     stAxSpeed AxSpeed;           // speed for each axis
     int       nId{};             // Point Table Id for ECAT