// MotorBase.h: interface for the CMotorBase class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_MOTORBASE_H__04B8BC9A_5FF9_4E00_BA08_FDEC856015F1__INCLUDED_)
#define AFX_MOTORBASE_H__04B8BC9A_5FF9_4E00_BA08_FDEC856015F1__INCLUDED_

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

#include "Motor.h"

class CMotorBase  : public CMtrPos, public CCard, public CMtrOnOff, public CMyWait
{
public:
	CMotorBase();
	CMotorBase(CString csMutexName, CMtrProfile mtrProfile, double *dpPos);
	virtual ~CMotorBase();

	//**************************************************************
	// Virtual Methods declaration
	//**************************************************************

	// method to close the axis
	virtual void CloseAxis();

	// method to initialize and configure the axis
	virtual void ConstructAxis(CMtrProfile mtrProfile);

	//	method to On/Off motor
	virtual int OnMtr(bool bOn);

	//	method to stop motor with decceleration
	virtual int DecStop();

	//	method to trigger Emergency stop the motor	virtual int EStop();
	virtual int EStop();

	// virtual method to get commanded position
	virtual double GetCommandPosition();

	// virtual method to get the motor axis IO status
	int GetMotionIOStatus();

	// virtual method to get the Motor Ready Status
	virtual BOOL IsMotorReady();

	// virtual method to get the Motor Alarm Status
	virtual BOOL IsMotorAlarm();

	// virtual method to get the Motor Negative/CCW Limit Status
	virtual BOOL IsNegLmtHit();

	// virtual method to get the Motor Positive/CW Limit Status
	virtual BOOL IsPosLmtHit();

	// virtual method to get the Motor Home Sensor Status
	virtual BOOL IsHomed();

	// virtual method to check if the Motor is TURN ON
	virtual bool IsMtrOn();

	// virtual method Check other axis home sensor
	virtual BOOL IsHomed(CMtrProfile mtrProfile);

	// virtual method to get other motor axis IO status
	virtual int GetMotionIOStatus(CMtrProfile mtrProfile);

	// virtual method to get Other axis motor ready status
	virtual BOOL IsMotorReady(CMtrProfile mtrProfile);

	// virtual method to get Other axis Alarm status
	virtual BOOL IsMotorAlarm(CMtrProfile mtrProfile);

	// virtual method to get Other axis negative/ccw limit status
	virtual BOOL IsNegLmtHit(CMtrProfile mtrProfile);

	// virtual method to get Other axis positive/cw limit status
	virtual BOOL IsPosLmtHit(CMtrProfile mtrProfile);

	// virtual method to get Other axis home sensor status
	virtual bool IsMtrOn(CMtrProfile mtrProfile);


	// virtual method to get other motor axis current position
	virtual double GetOtherAxisPosition(CMtrProfile mtrProfile);

	// virtual method to get motor axis current position error
	virtual double GetPosErr();

	// virtual method to get the current motor position
	virtual double GetPosition();

	// virtual method to do homing by limit sensor
	virtual bool HomingByLimit();

	// virtual method to do homing by sensor as well as index
	virtual BOOL HomeBySensorAndIndex();

	// virtual method to do homing by index signal
	virtual BOOL HomeByIndex();

	// virtual method to do homing by Home Sensor
	virtual BOOL HomeBySensor();

	// virtual method to move absolute
	virtual int MoveAbs(double dPosition, int nPos=-1, int nMode=0);

	// virtual method to move continuously
	virtual int MoveContinuously(bool bCW=true);

	// virtual method to move relative distance
	virtual int MoveRel(double dDistance, int nPos=-1);

	// virtual method to process interrupt to decode what happen to the motor
	virtual void ProcessInt(int nIntCode=0);

	// virtual method to reset single trigger
	virtual int ResetSingleTrigger();

	// virtual method to set the commanded position register
	virtual int SetCommandPosition(double dPosition);


	// virtual method to set the mechanical coversion factor
	virtual int SetConversionFactor(double dUPR, double dPPR, double dEPPR);

	// virtual method to set homing modes
	virtual int	SetHomeMode(int	iHomeMode);

	// virtual method to set multiple trigger
	virtual int SetMultipleTrigger(double dStartPosition, double dStopPosition, double dIntervalDistance, int nNoOfTrigger, int nCmpSource=1);

	// virtual method to force set the current position
	virtual int SetPosition(double dPosition);

	// virtual method to arm controller axis for single trigger
	virtual int SetSingleTrigger(double dPosition,  int nCmpSource=1, int nPulseStretch=STRETCH_NON);

	// virtual method to arm multiaxis for simultaneous motion
	virtual int SimultaneousMove(int nNoOfAxis, CMtrProfile *mtrProfile,  double *dPosition, double *dStartVel, double *dMaxVel, double *dAcc, int nMode = 0);

	// virtual method to move absolute with s-curve profile
	virtual int SMoveAbs(double dPosition, int nPos=-1, int nMode=0);

	// virtual method to move motor in s-curve continuously
	virtual int SMoveContinuously(bool bCW=true);

	// virtual method to move relative distance with s-curve profile
	virtual int SMoveRel(double dDistance, int nPos=-1);

	// return: success = MOTION_END; error = MOTION_ERROR; Force Stop = MOTION_FORCE_STOP
	virtual DWORD WaitHomeDone();

	// wait for motion stop based on pulse send out or in-position signal 
	// call this function after calling a move operation
	// return: success = MOTION_END; error = MOTION_ERROR; Force Stop = MOTION_FORCE_STOP
	// positive limit = MOTION_LIMIT_POS_HIT; negative limit = MOTION_LIMIT_NEG_HIT
	virtual DWORD WaitMotionDone(DWORD dwTimeout=1000);


	// virtual method to get the encoder index signal
	virtual BOOL IsIndex();

	//**************************************************************
	// virtual Methods declaration applicable to 
	// ADLINK 8134, 8164 ONLY - starts
	//**************************************************************
	// virtual method to set the motor type and encoder input type
	virtual int SetMtrType(int iMtrType);

	// virtual method to set the motor alarm signal logic
	virtual int	SetALM(int iALM);

	// virtual method to set the home sensor signal logic
	virtual int	SetORGI(int	iORGI);

	// virtual method to set the encoder Index signal logic
	virtual int	SetIndexLogic(int iIndexLogic);

	// virtual method to set the in position signal logic
	virtual int	SetINP(int iINP);
	
	// virtual method to set clk type, out/dir or cw/ccw
	virtual int	SetClk(int iClk);
	//**************************************************************
	// virtual Methods declaration applicable to 
	// ADLINK 8134, 8164 ONLY - ends
	//**************************************************************

	//**************************************************************
	// virtual Methods declaration applicable to GALIL ONLY - STARTS
	//**************************************************************
	// virtual method to get motion stop code
	virtual int GetStopCode();

	// virtual method to get motion stop code
	virtual CString GetVariable(CString csVariableName);

	// virtual method to send direct command string to controller
	virtual int SendCommand(CString csCommand);

	// virtual method to stop any running script program and stop all motion
	virtual int StopProgramAndMotion();
	
	// virtual method to update motion profile
	virtual int UpdateProfile();
	//**************************************************************
	// virtual Methods declaration applicable to GALIL ONLY - ENDS
	//**************************************************************

	//**************************************************************
	// Methods declaration
	//**************************************************************

	// method to get the real world distance in pulse
	double ConvertToPulse(double dDistance);

	// method to check if Axis will check for interrupt
	bool IsEnableIntCheck();

	// method to check disable interrupt
	void DisableIntCheck();

	// method to check enable interrupt
	void EnableIntCheck();

	// method to enable/disable auto reset motor position during home operation
	void EnableResetPositionDuringHoming(bool bResetPositionDuringHoming)  
	{ 
		m_bResetPositionDuringHoming = bResetPositionDuringHoming; 
	}

	// method to get the event for homimg complete
	HANDLE GetHomeMotionDoneTrigger();

	// method to get the event for motion complete
	HANDLE GetMotionDoneTrigger();


	// method to get the negative software limit in mm
	double GetNegativeSoftLimit();

	// method to get the positive software limit in mm
	double GetPositiveSoftLimit();

	// method to set positive software limit
	void SetPositiveSoftLimit(double dPosSoftLimit);

	// method to set negative software limit
	void SetNegativeSoftLimit(double dPosSoftLimit);

	//	method to home motor, normal or use limit sensor as home. 
	//	Whether to reset position tracking
	int Home(DWORD dwTimeout, bool bResetPositionTrack=true, bool bByLimit=false);

	// method to do homing, by Sensor or by Index mode
	BOOL Homing();

	// method to move motor based on position array
	int Move(int iPos, int nMode=0);

	// method to reset necessary motion events before any motion
	void ResetRequiredMotionEvents();

	// method to set normal, slow acceleration
	int SetAcce(double dAcce, bool bHomeSlow = false);

	// method to set normal, slow deceleration
	int SetDec(double dDec, bool bHomeSlow = false);

	// method to set normal acceleration
	int SetSAcce(double dSAcce);

	// method to set normal deceleration
	int SetSDec(double dSDec);

	// method to set constant speed
	int	SetConst(double dConst);

	// method to set normal, slow start up speed
	int	SetStartUp(double dStartUp, bool bHomeSlow = false);

	// method to set normal, slow max speed
	int	SetCruise(double dCruise, bool bHomeSlow = false);

	// method to set virtual home position
	int SetVirtualHomePosition(double dVirtualHomePosition);

	//	method to move motor based on position array with s-curve profile
	int SMove(int iPos, int nMode=0);

	// method to update the current motor position number for tracking purpose
	void UpdatePosition(int nPos);

	// method to update auto position number tracking after any motion done
	// call to manually update the motor position tracking if never use wait motion done command
	// normally by calling wait motion done, position tracking is automatically updated.
	void UpdatePosition();

	// Gary 21Mar11, V1.28.01
	// This method is used to reset alarm via MotionNet
	virtual int ResetAlarm(bool bReset);

	// These methods only applies to ETEL Gantry Mode
	// Gary 8Apr11, V1.29.00
	virtual int GantryEnable(int nNoOfAxis, CMtrProfile *mtrProfile){return MOTION_ERROR;};

	virtual int GantryDisable(int nNoOfAxis, CMtrProfile *mtrProfile){return MOTION_ERROR;};

	// Method to force a compare output pulse
	// Gary 2Jul12, V1.29.07
	virtual int TriggerCompareOutput(){return MOTION_ERROR;};

	//**************************************************************
	// variables declaration
	//**************************************************************

	// event to kill any running thread
	HANDLE	m_hKillThread;

	// event to trigger axis interrupt
	HANDLE	m_hAxisInt;

	// event to start normal home operation
	HANDLE	m_hStartHome;

	// event to start home by limit operation
	HANDLE	m_hStartHomeByLimit;

	// event to inform motion is completed
	HANDLE	m_hMotionDone;

	// event to inform homing is completed
	HANDLE	m_hHomeMotionDone;

	// event to inform motion has stopped
	HANDLE	m_hStop;

	// event to inform motor trigger positive/cw limit
	HANDLE	m_hPosLmtHit;

	// event to inform motor trigger negative/cw limit
	HANDLE	m_hNegLmtHit;

	// Gary 24Feb11, V1.28.01, new positive limit handle for MotionNet Only
	// event to inform motor trigger positive/cw limit
	HANDLE	m_hMotionNetPosLmtHit;

	// Gary 24Feb11, V1.28.01, new negative limit handle for MotionNet Only
	// event to inform motor trigger negative/cw limit
	HANDLE	m_hMotionNetNegLmtHit;


	// mutex for interlocking 
	CMutex	m_mutexMotion;

	// flag to indicate whether to log data
	bool m_bTraceData;

	// flag to indicate if application is running in bench debug mode
	bool m_bBenchDebug;

	// flag to indicate if axis should respond to any interrupts
	bool	m_bEnableIntCheck;

	// variable to keep track of original Home Sensor Logic
	int		m_nOrgLogic;

	// virtual home position
	double	m_dVirtualHomePosition;

	// flag to indicate whether to reset position during homing
	bool	m_bResetPositionDuringHoming;


	// thread to monitor axis motion
	CWinThread	*m_pThread;

	// thread to monitor home operation
	CWinThread	*m_pHomeThread;

	// keep track of which motor no
	int m_iMtrNo; 

	// keep track of no of pos
	int m_iNoOfPos; 

	// pointer to position array
	double *m_dpPos; 

	// motor profile
	CMtrProfile m_MtrProfile; 

	// variable to store the no. of output pulse per mm
	double m_dPulsePerMM;

	// variable to store the no. of encoder input pulse per mm
	double m_dEncoderPulsePerMM;

	// variable to define motion acceleration
	double m_dAcc;

	// variable to define motion deceleration
	double m_dDec;

	// variable to define motion S-curve acceleration
	double m_dSAcc;

	// variable to define motion S-curve deceleration
	double m_dSDec;

	// variable to define motion start speed
	double m_dStartSpeed;

	// variable to define motion max speed
	double m_dMaxSpeed;

	// variable to define motion constant speed
	double m_dConstantSpeed;

	// variable to track what's the current position number of the axis
	int m_nCurrentPosNo;

	// variable to store home motion timeout
	DWORD	m_dwHomeTimeout;

protected:
	// methods to reset related motion events before any motion
	void ResetMotionEvents();

	// methods to log trace data
	void Log(CString csData);

	// High resolution timer object to track motion time
	CHighResPerformanceCounter m_timerMotion;

	// motion time
	long m_lMotionTime;

	// method to return motion time in msec
	inline long GetMotionTime(){return m_lMotionTime;};
};

#endif // !defined(AFX_MOTORBASE_H__04B8BC9A_5FF9_4E00_BA08_FDEC856015F1__INCLUDED_)