// MotionControllerBase.h: interface for the CMotionControllerBase class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_MOTIONCONTROLLERBASE_H__500C0017_A68D_4C47_8F71_B32C3724F255__INCLUDED_)
#define AFX_MOTIONCONTROLLERBASE_H__500C0017_A68D_4C47_8F71_B32C3724F255__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include "Motor.h"
#include "hardwareini.h"

#ifdef  BUILD_IODLL
#define     IODLLCLASS  __declspec(dllexport)
#else
#define     IODLLCLASS  __declspec(dllimport)
#endif

class IODLLCLASS CMotionControllerBase : public CCard
{
friend UINT MotionThreadFn(LPVOID pParam);

protected:
    int     m_CardType;
    int     m_nNoOfCard;
    int     m_index;
    CString m_szCardName;

public:
    CMotionControllerBase(int index, const char *pMutexName);
    virtual ~CMotionControllerBase();
    void         SetCardInfo(int nCardType, const char *cardName);
    const int    GetCardType();
    CString      GetCardName();
    virtual BOOL Init(int &nNoOfMtr) = 0;
    virtual void Close();

// get the IOs status of the motor
    virtual unsigned short GetMotionIOStatus(const CMtrProfile &mtrProfile);

//  get Motion status of motor
    virtual int GetMotionStatus(const CMtrProfile &mtrProfile);

//  get Motor Pos value
    virtual double GetMtrPos(const CMtrProfile &mtrProfile);

//  get position error value
    virtual double GetPosErr(const CMtrProfile &mtrProfile);

//  check if motor is at home sensor position
    virtual BOOL IsHomed(const CMtrProfile &mtrProfile);

// check motor in position signal
    virtual BOOL IsInPosition(const CMtrProfile &mtrProfile);

// check if motor negative/ccw limit is triggered
    virtual BOOL IsNegLimHit(const CMtrProfile &mtrProfile);

// check if motor positive/cw limit hit
    virtual BOOL IsPosLimHit(const CMtrProfile &mtrProfile);

//  check if motor driver alarm
    virtual BOOL IsMotorAlarm(const CMtrProfile &mtrProfile);

//  check if motor is ready
    virtual BOOL IsMotorReady(const CMtrProfile &mtrProfile);

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

    BOOL TestIOStatus(const CMtrProfile &mtrProfile, unsigned short bitmask);

    struct signal_mask
    {
        // home signal bit mask
        unsigned short m_usHomeBitMask;

        // index signal bit mask
        unsigned short m_usIndexBitMask;

        // CW Limit signal bit mask
        unsigned short m_usCWLimitBitMask;

        // CCW Limit signal bit mask
        unsigned short m_usCCWLimitBitMask;

        // Motor Ready signal bit mask
        unsigned short m_usReadyBitMask;

        // Motor On signal bit mask
        unsigned short m_usOnBitMask;

        // Alarm signal bit mask
        unsigned short m_usAlarmBitMask;

        // In Position signal bit mask
        unsigned short m_usInPositionBitMask;

        signal_mask()
        {
            m_usHomeBitMask       = 0;
            m_usIndexBitMask      = 0;
            m_usCWLimitBitMask    = 0;
            m_usCCWLimitBitMask   = 0;
            m_usReadyBitMask      = 0;
            m_usOnBitMask         = 0;
            m_usAlarmBitMask      = 0;
            m_usInPositionBitMask = 0;
        }
    } m_structSignalMask;

    void        RegisterMotor(const CMtrProfile &mtrProfile, CMotorBase *pMotor);
    void        UnRegisterMotor(const CMtrProfile &mtrProfile);
    CMotorBase *GetMotor(const CMtrProfile &mtrProfile);

protected:
    CMutex m_mutexMotion;

    CHardwareIni               m_iniHardware;
    std::map<int, CMotorBase*> m_motors;
//    std::map<int, CMtrProfile> m_mapMtrIndexNoProfile;
};

#endif // !defined(AFX_MOTIONCONTROLLERBASE_H__500C0017_A68D_4C47_8F71_B32C3724F255__INCLUDED_)