// MotionController_ETEL.h: interface for the CMotionController_ETEL class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_MOTIONCONTROLLER_ETEL_H__3E235D4B_C75D_4F13_A9B5_61EFB6BB5378__INCLUDED_)
#define AFX_MOTIONCONTROLLER_ETEL_H__3E235D4B_C75D_4F13_A9B5_61EFB6BB5378__INCLUDED_

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

#include "MotionControllerBase.h"
//#include "dsa30.h"

class CMotionController_ETEL : public CMotionControllerBase
{
public:
	CMotionController_ETEL(int index);
	virtual ~CMotionController_ETEL();

	BOOL Init(int &nNoOfMtr);
	void Close();

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

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

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

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

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

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

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

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

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

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

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

private:
	DWORD GetAxisStatusM60(CMtrProfile mtrProfile);
};

#endif // !defined(AFX_MOTIONCONTROLLER_ETEL_H__3E235D4B_C75D_4F13_A9B5_61EFB6BB5378__INCLUDED_)