// Motor_ETEL.h: interface for the CMotor_ETEL class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_MOTOR_ETEL_H__FC570503_D3D0_404B_91B5_62C2067BD698__INCLUDED_)
#define AFX_MOTOR_ETEL_H__FC570503_D3D0_404B_91B5_62C2067BD698__INCLUDED_

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

#include "MotorBase.h"

class CMotor_ETEL : public CMotorBase  
{
public:
	CMotor_ETEL(CMtrProfile mtrProfile, double *dpPos);
	virtual ~CMotor_ETEL();

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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


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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

	// method to arm multiaxis for simultaneous motion, 
	// nMode = 0 : Normal multi-axis move
	// nMode = 1 : Gantry move
	int SimultaneousMove(int nNoOfAxis, CMtrProfile *mtrProfile,  double *dPosition, double *dStartVel, double *dMaxVel, double *dAcc, int nMode = 0);

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

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

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

	// return: success = MOTION_END; error = MOTION_ERROR; Force Stop = MOTION_FORCE_STOP
	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
	DWORD WaitMotionDone(DWORD dwTimeout=1000);


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

	// method to move profile
	int UpdateProfile();

	// Stop Motion Time Counter and return the time
	long StopMotionTimeCounter();

	// Logging of messages
	void Log(CString csMsg);

private:
	// Get Axis Status, Polling, Bus Busy
	dword	GetAxisStatusM60();

	// Get Other Axis Status M60, Polling, Bus busy
	dword	GetAxisStatusM60(CMtrProfile mtrProfile);

	// Get Axis Status M63

	// Get Other Axis Status M63

	// Get Axis Home Complete Status
	bool	IsAxisHomeSequenceCompleted();

	// Check if axis is in Homing Sequence
	bool	IsAxisInHoming();


	bool m_bBenchDebugWithActualHardware;
	
	BOOL GenerateNewHomePosition();

	DSA_DRIVE_GROUP *m_group;

	// method to move profile
	int UpdateProfile(CMtrProfile mtrProfile, int nDepth, double dAcc, double dSpd, double dJerk);

	// Gary 28Sep11, V1.29.03 added separate method to set gantry move profile
	int UpdateGantryProfile(int nDepth, double dAcc, double dSpd, double dJerk);

	int ResetAlarm(bool bReset);

	int GantryEnable(int nNoOfAxis, CMtrProfile *mtrProfile);

	int GantryDisable(int nNoOfAxis, CMtrProfile *mtrProfile);	

	// MIT BT 0000030, Gary Lam 17Jan13, V1.29.08
	int iso_upi_converter(double isovalue, long &lInc);

	int trigger_pulse_generator_event_setting(int ntrigger_event_number, double dtrigger_start_on_position, double dtrigger_direction, long lgenerator_used, double ddelta_position);
};

#endif // !defined(AFX_MOTOR_ETEL_H__FC570503_D3D0_404B_91B5_62C2067BD698__INCLUDED_)