mitlib.pub/MITLIB/GuiDLL/GuiMotionController.h

#pragma once

#ifdef  BUILD_GUIDLL
#define     DLLCLASS    __declspec(dllexport)
#include <boost/interprocess/managed_shared_memory.hpp>
using namespace boost::interprocess;
#else
#define     DLLCLASS    __declspec(dllimport)
class managed_shared_memory;
#endif

class CMtrStatus;

class DLLCLASS CGuiMotionController
{
public:

    BOOL           IsInPosition(CMtrProfile mtrProfile);
    unsigned short GetMotionIOStatus(CMtrProfile mtrProfile);

    CGuiMotionController(void);
    ~CGuiMotionController(void);

    BOOL InitController(int iNoOfMtr);

//  check if negative limit hit
// BOOL IsNegLimHit(int iMotorNo);
    BOOL IsNegLimHit(CMtrProfile mtrProfile);

//  check if positive limit hit
// BOOL IsPosLimHit(int iMotorNo);
    BOOL IsPosLimHit(CMtrProfile mtrProfile);

//  check if motor at home position
// BOOL IsHomed(int iMotorNo);
    BOOL IsHomed(CMtrProfile mtrProfile);

//  check if servo ready
// BOOL IsServoReady(int iMotorNo);
    BOOL IsServoReady(CMtrProfile mtrProfile);

//  check if servo alarm
// BOOL IsServoAlarm(int iMotorNo);
    BOOL IsServoAlarm(CMtrProfile mtrProfile);

//  get Motor Pos value
// double GetMtrPos(int iMotorNo);
    double GetMtrPos(CMtrProfile mtrProfile);

//  get Motion status of motor
// int GetMotionStatus(int iMotorNo);
    unsigned short GetMotionStatus(CMtrProfile mtrProfile);

//  get proportional gain value
    double GetPValue(int iMotorNo);

//  get Integral gain value
    double GetIValue(int iMotorNo);

//  get Deriative gain value
    double GetDValue(int iMotorNo);

//  get position error value
// double GetPosErr(int iMotorNo);
    double GetPosErr(CMtrProfile mtrProfile);

//  check if Motor type is servo motor
    BOOL IsServoMtrType(CMtrProfile mtrProfile);

//  copy all motor status
    void CopyMtrStatus();

//  check if motor position changed
    bool IsMtrPosChanged(int iMtrNo, int &iPos);

//  check if motor On/Off States changed
    bool IsMtrOnOffStateChanged(int iMtrNo, bool &bOnOffState);

//  check if motor is on
    BOOL IsMtrOn(CMtrProfile mtrProfile);

/*  Return Motor(specify by iMtrNo) on or off state.
    Function Return true = Motor specify by iMtrNo Is On, else return false = Motor is off */
    bool GetMtrOnOffState(int iMtrNo);

private:
    int m_iNoOfMtr;

    int      *m_ipMtrCurPos;   // array to store motor position before maintenance mode
    bool     *m_bpMtrCurOnOff; // array to store motor On/Off States before maintenance mode

    managed_shared_memory *m_managed_shm;

    CMtrStatus *m_pMtrStatus;
};