// MotionController_GALIL.h: interface for the CMotionController_GALIL class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_MOTIONCONTROLLER_GALIL_H__CDB6D2BC_791A_4C32_B162_0BB564FFED61__INCLUDED_)
#define AFX_MOTIONCONTROLLER_GALIL_H__CDB6D2BC_791A_4C32_B162_0BB564FFED61__INCLUDED_

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

#include "MotionControllerBase.h"

class CMotionController_GALIL : public CMotionControllerBase
{
public:
    CMotionController_GALIL(int index);
    virtual ~CMotionController_GALIL();
    virtual BOOL Init(int &nNoOfMtr);
    virtual void Close();

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

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

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

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

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

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

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

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

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

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

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

    void SetGalilMotionInt(int nAxisNo);

    int m_nCurrentGalilCard;

private:
    CWinThread *m_pGalilIntThread[4];

    char m_cResponse[100];
};

#endif // !defined(AFX_MOTIONCONTROLLER_GALIL_H__CDB6D2BC_791A_4C32_B162_0BB564FFED61__INCLUDED_)