// 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"

class CMotionControllerBase : public CCard
{
public:
	CMotionControllerBase(CString csMutexName);
	virtual ~CMotionControllerBase();

	virtual BOOL Init(int nCardType, CArray<stCard, stCard>	&astCard, int &nNoOfMtr);
	virtual void Close(int nCardType);

	// 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 type is servo motor
	virtual BOOL IsServoMtrType(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_)