add GetPathMoveMtrProfile()

iodll/Include/MotionPath.h

@@ -42,7 +42,7 @@ using stAxSpeed = struct _stAxSpeed
 using stMotionPath = struct _stMotionPath
 {
     // point path
-    std::vector<int>             vecAxisId;    // list of axis id
+    std::vector<int>             vecAxisIndex; // list of axis Index
     std::vector<stPointPosition> vecPointPath; // list of axis position for each point
     std::vector<stHelixPosition> vecHelixPath; // list of helix position for each point
     // speed profile

iodll/Include/Motor.h

@@ -533,6 +533,7 @@ public:
     bool StartZUSRelMoveLinear(double dDistZ, double dDistU, double dStartVel, double dMaxVel, double dAcc, double dDec, double dSAcc, double dSDec);
 
     //
+    void RegisterPathMoveMtrProfile(const std::vector<CMtrProfile>& vecMtrProfile);
     int  PathMove(const stMotionPath& motionPath);
     bool StopPathMove(const stMotionPath& motionPath);
 

iodll/Include/MotorBase.h

@@ -337,6 +337,7 @@ public:
     int SMoveRel(double dDistance, int nPos = -1);
 
     // Motion Path
+    void  RegisterPathMoveMtrProfile(const std::vector<CMtrProfile>& vecMtrProfile);
     virtual int PathMove(const stMotionPath& motionPath);
     virtual bool StopPathMove(const stMotionPath& motionPath);
 
@@ -731,6 +732,8 @@ protected:
 
     bool UseHomeSlowSpeed();
 
+    const std::vector<CMtrProfile>& GetPathMoveMtrProfile() const;
+
     CMotionControllerBase* m_pBaseController;
 
     template <typename... Args>
@@ -780,6 +783,9 @@ private:
     // virtual home position
     double m_dVirtualHomePosition{ 0. };
 
+    // hold motion path motor profile for multi-axis path move
+    std::vector<CMtrProfile> m_vecPathMoveMtrProfile;
+
     void SetHomeTimeout(DWORD dwTimeout);
 
     void SetHomeLeaveSteps(double dLeaveSteps);