// 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
{
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(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);

protected:
	CMutex	m_mutexMotion;

	CHardwareIni	m_iniHardware;
};

#endif // !defined(AFX_MOTIONCONTROLLERBASE_H__500C0017_A68D_4C47_8F71_B32C3724F255__INCLUDED_)