#include "stdafx.h"
#include "Animatics_Proto.h"
#include "math.h"


#define MAX_IN_BUFF_SIZE        1024

//*****  Static Data  *****
static char *outBuff = NULL;
//================================================================
HANDLE   g_machine_event=NULL;

//================================================================
int              SmartMotor_Proto::g_machine_Thread_State=THREAD_PAUSED;
HANDLE           SmartMotor_Proto::g_machine_Thread_Id=NULL;
HANDLE           SmartMotor_Proto::g_machine_Serial_Mutex;

//================================================================
struct_smartmotor_machine   SmartMotor_Proto::g_machine;
CLogger             *SmartMotor_Proto::g_pLogger;
HANDLE               SmartMotor_Proto::g_hHomedEvent = NULL;


//===========================================================================
//  Worker Thread to send command to and receive data from smart motor. 
//===========================================================================
unsigned __stdcall SmartMotor_Proto::g_machine_Thread(LPVOID pThis)
{
  SmartMotor_Proto* _This = (SmartMotor_Proto*)pThis;
  for (;;)
  {
    TRACE0("g_machine_Thread in loop set.\n");
    if (g_machine_Thread_State == THREAD_EXIT) 
      ExitThread(0);
    WaitForSingleObject(g_machine_event,INFINITE);
    TRACE0("g_machine_Thread obtained event.\n");
    switch (g_machine_Thread_State)
    {
    case THREAD_EXIT:
      {
        ExitThread(0);
      }
    case THREAD_PAUSED:
      break;
    case THREAD_RUNNING_STATE:
      { 
        _This->smartmotor_motion_get_motion_status();
        break;
      }
    default:
      ExitThread(0);
    }
  };
  g_machine_Thread_State = THREAD_EXIT;
  ExitThread(0);
};


//******************************************************************************
SmartMotor_Proto::SmartMotor_Proto()
{
  g_machine.x.address=1;
  g_machine.y.address=2;
  g_machine.z.address=3;

  g_machine.x._Move_Speed_Gear=1;
  g_machine.x._l_move_dis=0;
  g_machine.x._d_move_dis=0;
  g_machine.x._l_cur_pos=0;
  g_machine.x._d_cur_pos=0;
  g_machine.x._dSet_Zero_Pos=0;
  g_machine.x._lSet_Zero_Pos=0;
  g_machine.x.s_machine_status.StatusWord[0]=0;
  g_machine.x.s_machine_status.StatusWord[1]=0;
  g_machine.x.s_machine_status.DriverRdy=FALSE;
  g_machine.x.s_machine_status.MotorOff=FALSE;
  g_machine.x.s_machine_status.VoltageFault=FALSE;
  g_machine.x.s_machine_status.PosErr=FALSE;
  g_machine.x.s_machine_status.OverHeat=FALSE;
  g_machine.x.s_machine_status.NegLimit=FALSE;
  g_machine.x.s_machine_status.PosLimit=FALSE;

  g_machine.y._Move_Speed_Gear=1;
  g_machine.y._l_move_dis=0;
  g_machine.y._d_move_dis=0;
  g_machine.y._l_cur_pos=0;
  g_machine.y._d_cur_pos=0;
  g_machine.y._dSet_Zero_Pos=0;
  g_machine.y._lSet_Zero_Pos=0;
  g_machine.y.s_machine_status.StatusWord[0]=0;
  g_machine.y.s_machine_status.StatusWord[1]=0;
  g_machine.y.s_machine_status.DriverRdy=FALSE;
  g_machine.y.s_machine_status.MotorOff=FALSE;
  g_machine.y.s_machine_status.VoltageFault=FALSE;
  g_machine.y.s_machine_status.PosErr=FALSE;
  g_machine.y.s_machine_status.OverHeat=FALSE;
  g_machine.y.s_machine_status.NegLimit=FALSE;
  g_machine.y.s_machine_status.PosLimit=FALSE;

  g_machine.z._Move_Speed_Gear=1;
  g_machine.z._l_move_dis=0;
  g_machine.z._d_move_dis=0;
  g_machine.z._l_cur_pos=0;
  g_machine.z._d_cur_pos=0;
  g_machine.z._dSet_Zero_Pos=0;
  g_machine.z._lSet_Zero_Pos=0;
  g_machine.z.s_machine_status.StatusWord[0]=0;
  g_machine.z.s_machine_status.StatusWord[1]=0;
  g_machine.z.s_machine_status.DriverRdy=FALSE;
  g_machine.z.s_machine_status.MotorOff=FALSE;
  g_machine.z.s_machine_status.VoltageFault=FALSE;
  g_machine.z.s_machine_status.PosErr=FALSE;
  g_machine.z.s_machine_status.OverHeat=FALSE;
  g_machine.z.s_machine_status.NegLimit=FALSE;
  g_machine.z.s_machine_status.PosLimit=FALSE;

  g_machine.s_status._bXHomed=FALSE;
  g_machine.s_status._bYHomed=FALSE;
  g_machine.s_status._bZHomed=FALSE;
  g_machine.s_status._bXYZHomed=FALSE;
  g_machine.s_status._machine_running=FALSE;
  g_machine.s_status._bXMoving=FALSE;
  g_machine.s_status._bYMoving=FALSE;
  g_machine.s_status._bZMoving=FALSE;
  g_machine.s_status._bXYZMoving=FALSE;

  _reset_config_parameter();
  m_bHomingActive=false;

  g_pLogger = new CLogger(_T("\\UtilityDebug.Log"));
};

//******************************************************************************
SmartMotor_Proto::~SmartMotor_Proto()
{
  if (g_pLogger)
  {
    g_pLogger->Send(_T("Destruct Csmartmotor_Proto.\r\n"));
    delete g_pLogger;
    g_pLogger = NULL;
  }
}


//===========================================================================
double SmartMotor_Proto::ScaleToMM(long lCount, double dResolution)
{
  double dMM = 0.0;
  dMM = (lCount* dResolution) /1000 ;
  return dMM;
}

//===========================================================================
long SmartMotor_Proto::MMtoScale(double lDistanceMM, double dResolution)
{
  long lCounts(0);
  if (dResolution)
    lCounts = static_cast<long> (lDistanceMM *1000 / dResolution);
  else
    ASSERT(0);
  return lCounts;
}

//=====================================================================================
long SmartMotor_Proto::_4char2long(unsigned char *cBuff)
{
  union
  {
    long l_value;
    char c_array[5];
  };
  memset (c_array, 0, 5);
  c_array[0] = cBuff[3];
  c_array[1] = cBuff[2];
  c_array[2] = cBuff[1];
  c_array[3] = cBuff[0];
  return(l_value);
}

//=====================================================================================
long SmartMotor_Proto::_3char2long(unsigned char *cBuff)
{
  union
  {
    long l_value;
    char c_array[5];
  };
  memset (c_array, 0, 5);
  c_array[0] = cBuff[2];
  c_array[1] = cBuff[1];
  c_array[2] = cBuff[0];
  return(l_value);
}
//========================================================================
void SmartMotor_Proto::_reverse_dword(DWORD *dWord)
{
  BYTE cBuff[4]; 
  BYTE *dwBuff = (BYTE *)dWord;
  for ( int ii = 0 ; ii < 4 ; ++ii )
    cBuff[ii]= dwBuff[ii];

  dwBuff[0] = cBuff[3];
  dwBuff[1] = cBuff[2];
  dwBuff[2] = cBuff[1];
  dwBuff[3] = cBuff[0];
}

//******************************************************************************
void SmartMotor_Proto::_scale2inch(unsigned long scale, double &inch)
{
  UNREFERENCED_PARAMETER(scale);
  UNREFERENCED_PARAMETER(inch);
}

//******************************************************************************
void SmartMotor_Proto::_inch2scale(unsigned long &scale, double inch)
{
  UNREFERENCED_PARAMETER(scale);
  UNREFERENCED_PARAMETER(inch);
}

//******************************************************************************
// convert a string of characters into its binary form
void SmartMotor_Proto::_char2bin(unsigned char *cBuff, BYTE *cBytes, int iLen)
{
  memset(cBytes, 0, MAX_BUFF_SIZE);
  for (int i=0;i<iLen;i++)
  {
    sscanf_s((const char *)(cBuff+i*2), "%2x", (cBytes+i));
  };
  return;
}

//******************************************************************************
void SmartMotor_Proto::_swap_byte(unsigned short &Val)
{
  unsigned short MSB = Val<<8;
  BYTE LSB = Val>>8;
  Val = MSB|LSB;
}

//******************************************************************************
double SmartMotor_Proto::TimeInSecs(void)
{
  double Secs;

  LARGE_INTEGER HPCounterTicksPerSecond;
  BOOL HasHPCounter = QueryPerformanceFrequency(&HPCounterTicksPerSecond);

  if (HasHPCounter == TRUE)
  {
    // Use high resolution clock.
    double HPCounterTicksPersec = (DWORD)((double) HPCounterTicksPerSecond.QuadPart);
    LARGE_INTEGER HPTicks;
    QueryPerformanceCounter(&HPTicks);
    Secs = ((double)HPTicks.QuadPart / HPCounterTicksPersec);
  }
  else
  {
    // Use clock with less resolution.
    Secs = GetTickCount();
    Secs /= 1000.0;
  }
  return Secs;
}


#pragma warning(disable:4996)
//==============================================================================
//******************************************************************************

void SmartMotor_Proto::_reset_config_parameter()
{
  for(INT i=0;i<5;i++)
  {
    g_machine.s_machine_config.x_axis._speed_[i]=0;
    g_machine.s_machine_config.x_axis._accel_[i]=0;
    g_machine.s_machine_config.x_axis._decel_[i]=0;

    g_machine.s_machine_config.y_axis._speed_[i]=0;
    g_machine.s_machine_config.y_axis._accel_[i]=0;
    g_machine.s_machine_config.y_axis._decel_[i]=0;

    g_machine.s_machine_config.z_axis._speed_[i]=0;
    g_machine.s_machine_config.z_axis._accel_[i]=0;
    g_machine.s_machine_config.z_axis._decel_[i]=0;
  }
  g_machine.s_machine_config.x_axis._neg_working_limit=0;
  g_machine.s_machine_config.x_axis._pos_working_limit=200;
  g_machine.s_machine_config.x_axis._scale_resolution=0.4;

  g_machine.s_machine_config.y_axis._neg_working_limit=0;
  g_machine.s_machine_config.y_axis._pos_working_limit=200;
  g_machine.s_machine_config.y_axis._scale_resolution=0.4;

  g_machine.s_machine_config.z_axis._neg_working_limit=0;
  g_machine.s_machine_config.z_axis._pos_working_limit=200;
  g_machine.s_machine_config.z_axis._scale_resolution=0.4;


}
//=========================================================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::SaveSmartMotorConfig()
{
  FILE* m_pOutFile;
  char *outBuff = NULL;
  //  char tmp;
  CString csAppPath;
  GetAppPath(csAppPath);
  CString csSO7ConfigFile =csAppPath+_T("\\smartmotor_config.ini");
  _wfopen_s(&m_pOutFile, csSO7ConfigFile, _T("wt"));
  if (!m_pOutFile)
  {
    free(outBuff);
  };
  outBuff="[HARDWARE]";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile, "\n");
  //=================================X==================================
  outBuff="SPEED_X1=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._speed_[0]);
  fprintf(m_pOutFile, "\n");

  outBuff="ACCELERATION_X1=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._accel_[0]);
  fprintf(m_pOutFile, "\n");

  outBuff="DECELERATION_X1=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._decel_[0]);
  fprintf(m_pOutFile, "\n");
  fprintf(m_pOutFile,"%s", ";\n");

  outBuff="SPEED_X2=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._speed_[1]);
  fprintf(m_pOutFile, "\n");

  outBuff="ACCELERATION_X2=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._accel_[1]);
  fprintf(m_pOutFile, "\n");

  outBuff="DECELERATION_X2=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._decel_[1]);
  fprintf(m_pOutFile, "\n");
  fprintf(m_pOutFile,"%s", ";\n");

  outBuff="SPEED_X3=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._speed_[2]);
  fprintf(m_pOutFile, "\n");

  outBuff="ACCELERATION_X3=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._accel_[2]);
  fprintf(m_pOutFile, "\n");

  outBuff="DECELERATION_X3=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._decel_[2]);
  fprintf(m_pOutFile, "\n");
  fprintf(m_pOutFile,"%s", ";\n");

  outBuff="SPEED_X4=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._speed_[3]);
  fprintf(m_pOutFile, "\n");

  outBuff="ACCELERATION_X4=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._accel_[3]);
  fprintf(m_pOutFile, "\n");

  outBuff="DECELERATION_X4=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._decel_[3]);
  fprintf(m_pOutFile, "\n");
  fprintf(m_pOutFile,"%s", ";\n");

  outBuff="SPEED_X5=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._speed_[4]);
  fprintf(m_pOutFile, "\n");

  outBuff="ACCELERATION_X5=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._accel_[4]);
  fprintf(m_pOutFile, "\n");

  outBuff="DECELERATION_X5=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._decel_[4]);
  fprintf(m_pOutFile, "\n");
  fprintf(m_pOutFile,"%s", ";\n");

  //=================================Y==================================
  outBuff="SPEED_Y1=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._speed_[0]);
  fprintf(m_pOutFile, "\n");

  outBuff="ACCELERATION_Y1=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._accel_[0]);
  fprintf(m_pOutFile, "\n");

  outBuff="DECELERATION_Y1=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._decel_[0]);
  fprintf(m_pOutFile, "\n");
  fprintf(m_pOutFile,"%s", ";\n");

  outBuff="SPEED_Y2=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._speed_[1]);
  fprintf(m_pOutFile, "\n");

  outBuff="ACCELERATION_Y2=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._accel_[1]);
  fprintf(m_pOutFile, "\n");

  outBuff="DECELERATION_Y2=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._decel_[1]);
  fprintf(m_pOutFile, "\n");
  fprintf(m_pOutFile,"%s", ";\n");

  outBuff="SPEED_Y3=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._speed_[2]);
  fprintf(m_pOutFile, "\n");

  outBuff="ACCELERATION_Y3=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._accel_[2]);
  fprintf(m_pOutFile, "\n");

  outBuff="DECELERATION_Y3=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._decel_[2]);
  fprintf(m_pOutFile, "\n");
  fprintf(m_pOutFile,"%s", ";\n");

  outBuff="SPEED_Y4=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._speed_[3]);
  fprintf(m_pOutFile, "\n");

  outBuff="ACCELERATION_Y4=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._accel_[3]);
  fprintf(m_pOutFile, "\n");

  outBuff="DECELERATION_Y4=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._decel_[3]);
  fprintf(m_pOutFile, "\n");
  fprintf(m_pOutFile,"%s", ";\n");

  outBuff="SPEED_Y5=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._speed_[4]);
  fprintf(m_pOutFile, "\n");

  outBuff="ACCELERATION_Y5=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._accel_[4]);
  fprintf(m_pOutFile, "\n");

  outBuff="DECELERATION_Y5=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._decel_[4]);
  fprintf(m_pOutFile, "\n");
  fprintf(m_pOutFile,"%s", ";\n");

  //=================================Z==================================
  outBuff="SPEED_Z1=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._speed_[0]);
  fprintf(m_pOutFile, "\n");

  outBuff="ACCELERATION_Z1=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._accel_[0]);
  fprintf(m_pOutFile, "\n");

  outBuff="DECELERATION_Z1=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._decel_[0]);
  fprintf(m_pOutFile, "\n");
  fprintf(m_pOutFile,"%s", ";\n");

  outBuff="SPEED_Z2=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._speed_[1]);
  fprintf(m_pOutFile, "\n");

  outBuff="ACCELERATION_Z2=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._accel_[1]);
  fprintf(m_pOutFile, "\n");

  outBuff="DECELERATION_Z2=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._decel_[1]);
  fprintf(m_pOutFile, "\n");
  fprintf(m_pOutFile,"%s", ";\n");

  outBuff="SPEED_Z3=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._speed_[2]);
  fprintf(m_pOutFile, "\n");

  outBuff="ACCELERATION_Z3=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._accel_[2]);
  fprintf(m_pOutFile, "\n");

  outBuff="DECELERATION_Z3=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._decel_[2]);
  fprintf(m_pOutFile, "\n");
  fprintf(m_pOutFile,"%s", ";\n");

  outBuff="SPEED_Z4=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._speed_[3]);
  fprintf(m_pOutFile, "\n");

  outBuff="ACCELERATION_Z4=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._accel_[3]);
  fprintf(m_pOutFile, "\n");

  outBuff="DECELERATION_Z4=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._decel_[3]);
  fprintf(m_pOutFile, "\n");
  fprintf(m_pOutFile,"%s", ";\n");

  outBuff="SPEED_Z5=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._speed_[4]);
  fprintf(m_pOutFile, "\n");

  outBuff="ACCELERATION_Z5=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._accel_[4]);
  fprintf(m_pOutFile, "\n");

  outBuff="DECELERATION_Z5=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._decel_[4]);
  fprintf(m_pOutFile, "\n");
  fprintf(m_pOutFile,"%s", ";\n");
  //===========worktable=====================

  outBuff="[WORKTABLE]";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile, "\n");

  outBuff="X_SCALE_RESOLUTION=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.x_axis._scale_resolution);
  fprintf(m_pOutFile, "\n");

  outBuff="Y_SCALE_RESOLUTION=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.y_axis._scale_resolution);
  fprintf(m_pOutFile, "\n");

  outBuff="Z_SCALE_RESOLUTION=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.z_axis._scale_resolution);
  fprintf(m_pOutFile, "\n");
  fprintf(m_pOutFile,"%s", ";\n");

  outBuff="X_NEG_WORKING_LIMIT=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.x_axis._neg_working_limit);
  fprintf(m_pOutFile, "\n");

  outBuff="Y_NEG_WORKING_LIMIT=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.y_axis._neg_working_limit);
  fprintf(m_pOutFile, "\n");

  outBuff="Z_NEG_WORKING_LIMIT=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.z_axis._neg_working_limit);
  fprintf(m_pOutFile, "\n");
  fprintf(m_pOutFile,"%s", ";\n");

  outBuff="X_POS_WORKING_LIMIT=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.x_axis._pos_working_limit);
  fprintf(m_pOutFile, "\n");

  outBuff="Y_POS_WORKING_LIMIT=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.y_axis._pos_working_limit);
  fprintf(m_pOutFile, "\n");

  outBuff="Z_POS_WORKING_LIMIT=";
  fprintf(m_pOutFile,"%s", outBuff);
  fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.z_axis._pos_working_limit);
  fprintf(m_pOutFile, "\n");
  fprintf(m_pOutFile,"%s", ";\n");



  fclose(m_pOutFile);
  return SSI_STATUS_SMARTMOTOR_NORMAL;
}
//******************************************************************************
//log file shows the machine speed data
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::LoadSmartMotorConfig()
{
  FILE   *hConfigFile = NULL;
  char    szLine[MAX_BUFF_SIZE];
  char   *token = NULL;
  char    seps[]  = " =,\t\n";
  char   cTemp[20]={0};
  CString csAppPath;
  GetAppPath(csAppPath);
  CString csSO7ConfigFile =csAppPath+_T("\\smartmotor_config.ini");//iniFile
  _wfopen_s(&hConfigFile,csSO7ConfigFile,_T("rt"));
  if(hConfigFile)
  {
    while (!feof(hConfigFile))
    {
      fgets(szLine,MAX_BUFF_SIZE,hConfigFile);//read a line 
      if((szLine[0]!=';')&&(strlen(szLine)>2))
      {
        token = strtok(szLine,seps);
        //============================X============================
        if(!_stricmp(token,"SPEED_X1"))//
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.x_axis._speed_[0]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"ACCELERATION_X1"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.x_axis._accel_[0]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"DECELERATION_X1"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.x_axis._decel_[0]=atoi(cTemp);
          }
        }
        //--------------------------------------------
        else if(!_stricmp(token,"SPEED_X2"))//
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.x_axis._speed_[1]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"ACCELERATION_X2"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.x_axis._accel_[1]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"DECELERATION_X2"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.x_axis._decel_[1]=atoi(cTemp);
          }
        }
        //--------------------------------------------
        else if(!_stricmp(token,"SPEED_X3"))//
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.x_axis._speed_[2]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"ACCELERATION_X3"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.x_axis._accel_[2]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"DECELERATION_X3"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.x_axis._decel_[2]=atoi(cTemp);
          }
        }
        //--------------------------------------------
        else if(!_stricmp(token,"SPEED_X4"))//
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.x_axis._speed_[3]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"ACCELERATION_X4"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.x_axis._accel_[3]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"DECELERATION_X4"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.x_axis._decel_[3]=atoi(cTemp);
          }
        }
        //--------------------------------------------
        else if(!_stricmp(token,"SPEED_X5"))//
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.x_axis._speed_[4]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"ACCELERATION_X5"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.x_axis._accel_[4]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"DECELERATION_X5"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.x_axis._decel_[4]=atoi(cTemp);
          }
        }
        //===========================Y============================
        else if(!_stricmp(token,"SPEED_Y1"))//
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.y_axis._speed_[0]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"ACCELERATION_Y1"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.y_axis._accel_[0]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"DECELERATION_Y1"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.y_axis._decel_[0]=atoi(cTemp);
          }
        }
        //--------------------------------------------
        else if(!_stricmp(token,"SPEED_Y2"))//
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.y_axis._speed_[1]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"ACCELERATION_Y2"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.y_axis._accel_[1]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"DECELERATION_Y2"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.y_axis._decel_[1]=atoi(cTemp);
          }
        }
        //--------------------------------------------
        else if(!_stricmp(token,"SPEED_Y3"))//
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.y_axis._speed_[2]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"ACCELERATION_Y3"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.y_axis._accel_[2]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"DECELERATION_Y3"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.y_axis._decel_[2]=atoi(cTemp);
          }
        }
        //--------------------------------------------
        else if(!_stricmp(token,"SPEED_Y4"))//
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.y_axis._speed_[3]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"ACCELERATION_Y4"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.y_axis._accel_[3]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"DECELERATION_Y4"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.y_axis._decel_[3]=atoi(cTemp);
          }
        }
        //--------------------------------------------
        else if(!_stricmp(token,"SPEED_Y5"))//
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.y_axis._speed_[4]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"ACCELERATION_Y5"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.y_axis._accel_[4]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"DECELERATION_Y5"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.y_axis._decel_[4]=atoi(cTemp);
          }
        }
        //===========================Z============================
        else if(!_stricmp(token,"SPEED_Z1"))//
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.z_axis._speed_[0]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"ACCELERATION_Z1"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.z_axis._accel_[0]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"DECELERATION_Z1"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.z_axis._decel_[0]=atoi(cTemp);
          }
        }
        //--------------------------------------------
        else if(!_stricmp(token,"SPEED_Z2"))//
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.z_axis._speed_[1]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"ACCELERATION_Z2"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.z_axis._accel_[1]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"DECELERATION_Z2"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.z_axis._decel_[1]=atoi(cTemp);
          }
        }
        //--------------------------------------------
        else if(!_stricmp(token,"SPEED_Z3"))//
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.z_axis._speed_[2]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"ACCELERATION_Z3"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.z_axis._accel_[2]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"DECELERATION_Z3"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.z_axis._decel_[2]=atoi(cTemp);
          }
        }
        //--------------------------------------------
        else if(!_stricmp(token,"SPEED_Z4"))//
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.z_axis._speed_[3]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"ACCELERATION_Z4"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.z_axis._accel_[3]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"DECELERATION_Z4"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.z_axis._decel_[3]=atoi(cTemp);
          }
        }
        //--------------------------------------------
        else if(!_stricmp(token,"SPEED_Z5"))//
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.z_axis._speed_[4]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"ACCELERATION_Z5"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.z_axis._accel_[4]=atoi(cTemp);
          }
        }
        else if(!_stricmp(token,"DECELERATION_Z5"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.z_axis._decel_[4]=atoi(cTemp);
          }
        }
        //=====================[WORKTABLE]========================
        else if(!_stricmp(token, "X_SCALE_RESOLUTION"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.x_axis._scale_resolution=atof(cTemp);
          }
        }
        else if(!_stricmp(token, "Y_SCALE_RESOLUTION"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.y_axis._scale_resolution=atof(cTemp);
          }
        }
        else if(!_stricmp(token, "Z_SCALE_RESOLUTION"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.z_axis._scale_resolution=atof(cTemp);
          }
        }
        else if(!_stricmp(token, "X_NEG_WORKING_LIMIT"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.x_axis._neg_working_limit=atof(cTemp);
          }
        }
        else if(!_stricmp(token, "Y_NEG_WORKING_LIMIT"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.y_axis._neg_working_limit=atof(cTemp);
          }
        }
        else if(!_stricmp(token, "Z_NEG_WORKING_LIMIT"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.z_axis._neg_working_limit=atof(cTemp);
          }
        }
        else if(!_stricmp(token, "X_POS_WORKING_LIMIT"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.x_axis._pos_working_limit=atof(cTemp);
          }
        }
        else if(!_stricmp(token, "Y_POS_WORKING_LIMIT"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.y_axis._pos_working_limit=atof(cTemp);
          }
        }
        else if(!_stricmp(token, "Z_POS_WORKING_LIMIT"))
        {
          token = strtok( NULL, seps);
          if (token)
          {
            strcpy(cTemp,token);
            g_machine.s_machine_config.z_axis._pos_working_limit=atof(cTemp);
          }
        }
      }
    }
    fclose(hConfigFile);
  }

  return SSI_STATUS_SMARTMOTOR_NORMAL;
}

//******************************************************************************
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::GetAppPath(CString &Path)
{
  Path=_T("");            // Speed optimization - noticed slow in GlowCode
  if (Path.IsEmpty())
  {
    CString tmpPath;
    GetModuleFileName(NULL,tmpPath.GetBuffer(255),255);
    tmpPath.ReleaseBuffer();
    tmpPath.TrimRight();
    int nLastSlash = tmpPath.ReverseFind('\\');
    if (nLastSlash >= 0)
      tmpPath = tmpPath.Left(nLastSlash);
    else
      tmpPath.Empty();
    Path=tmpPath;
  }
  return SSI_STATUS_SMARTMOTOR_NORMAL;
};
//******************************************************************************
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::ExtractAppPath(CString &Path)
{
  CString tmpPath = Path;
  tmpPath.TrimRight();
  tmpPath.TrimLeft();
  int nLastSlash = tmpPath.ReverseFind('\\');
  if (nLastSlash > -1)
  { // complete path
    tmpPath = Path.Left(nLastSlash);
    Path = tmpPath;
  }
  else
  { // not a complete path
    Path="";
  };
  return SSI_STATUS_SMARTMOTOR_NORMAL;
};
//******************************************************************************
//set up the thread
//******************************************************************************
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::Create_thread()
{
  //Set initial state of the machine
  g_machine.s_status._machine_running = false;


  SSI_STATUS_SMARTMOTOR Status=SSI_STATUS_SMARTMOTOR_NORMAL;
  UNREFERENCED_PARAMETER(Status);



  // ********************************************************************
  //
  g_machine_event = CreateEvent(NULL,      // default security attributes
    FALSE,     // manual reset event object
    NULL,      // signaled
    NULL);     // unamed object

  g_machine_Thread_Id    = CreateThread( (LPSECURITY_ATTRIBUTES) NULL,
    0,
    (LPTHREAD_START_ROUTINE) g_machine_Thread,
    (LPVOID) this,
    0,
    NULL);
  g_machine_Thread_State = THREAD_RUNNING_STATE;

  // ********************************************************************
  // Prepare and start EP_S07_81 Thread - Use async commit.
  //
  g_machine_Serial_Mutex = CreateMutex(NULL,     // default security attributes
    FALSE,     // initial owner
    NULL);     // name

  // *********************************************************************
  g_hHomedEvent    = CreateEvent(NULL,   // default security attributes
    TRUE,   // manual reset event object
    FALSE,   // initial state is signaled
    NULL);  // unamed object


  return SSI_STATUS_SMARTMOTOR_NORMAL;
}

//******************************************************************************
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::Exit_thread()
{
  SSI_STATUS_SMARTMOTOR Status=SSI_STATUS_SMARTMOTOR_NORMAL;

  g_machine_Thread_State  = THREAD_EXIT;

  SetEvent(g_machine_event);
  if (g_machine_Thread_Id)
  {
    DWORD dwCode = STILL_ACTIVE;
    while (dwCode == STILL_ACTIVE)
    {
      GetExitCodeThread(g_machine_Thread_Id,&dwCode);
      Sleep(1);
    }
  }

  SetEvent(g_machine_event);
  CloseHandle(g_machine_event);
  g_machine_Thread_State = THREAD_EXIT;
  ReleaseMutex(g_machine_Serial_Mutex);
  CloseHandle(g_machine_Serial_Mutex);  
  return Status;
}



//******************************************************************************
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_start_machine()
{
  Create_thread();
  InitSmartMotor();
  StartSmartMotor();
  LoadSmartMotorConfig();
  //smartmotor_motion_Dcc_Home();
  g_machine_Thread_State = THREAD_RUNNING_STATE;
  g_machine.s_status._machine_running = true;
  return SSI_STATUS_SMARTMOTOR_NORMAL;
};

//===============================================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_shutdown_machine()
{
  StopSmartMotor();
  Exit_thread();
  g_machine.s_status._machine_running = false;
  return SSI_STATUS_SMARTMOTOR_NORMAL;
};


//**********************************************************************//
//**********************************************************************//
//==========================================================================
BOOL SmartMotor_Proto::InitSmartMotor()
{
  try
  {
    // Create SMIHost object and interfaces
    HRESULT hr = CommInterface.CreateInstance(__uuidof(SMIHost));
    if(FAILED(hr))
    { 
      AfxMessageBox(_T("Cannot create an instance of \"SMIHost\" class!"));
      return FALSE;
    }
    hr = CommInterface.QueryInterface(__uuidof(ISMICMotion),&CMotionInterface);
    if(FAILED(hr)) 
    { 
      AfxMessageBox(_T("The interface \"ISMICMotion\" not found!"));
      return FALSE;
    }
    hr = CommInterface.QueryInterface(__uuidof(ISMIPath),&PathInterface);
    if(FAILED(hr)) 
    { 
      AfxMessageBox(_T("The interface \"ISMIPath\" not found!"));
      return FALSE;
    }
    CString Str = _T("N/A");
    long Version = CommInterface->EngineVersion;
    if(Version)
    {
      Str.Format(_T("IntegMotorInterface Version: %d.%d%d%d"),
        HIBYTE(HIWORD(Version)),
        LOBYTE(HIWORD(Version)),
        HIBYTE(LOWORD(Version)),
        LOBYTE(LOWORD(Version)));
    }
    return TRUE;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    return FALSE;
  }
}
//==========================================================================
void SmartMotor_Proto::StartSmartMotor()
{
  try
  {
    CommInterface->BaudRate = 19200;
    CommInterface->OpenPort(_bstr_t(_T("COM1")));
    CommInterface->InitRS485(3, 1);
    CommInterface->DefaultMotor = 0;
    CommInterface->WriteCommand(("RUN"));
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
  }
}
//==========================================================================
void SmartMotor_Proto::StopSmartMotor()
{
  try
  {
    CommInterface->DefaultMotor = 0;
    CommInterface->WriteCommand(_bstr_t("c=1"));
    CommInterface->WriteCommand(("S"));
    CommInterface->WriteCommand(("OFF"));
    CommInterface->ClosePort();
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
  }
}
//========================================================================
// Move the stage left/right until the index location is non-zero
//========================================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_Dcc_Home()
{
  try 
  {
    g_machine.s_status._bXYZHomed=FALSE;
    g_machine.s_status._bXHomed=FALSE;
    g_machine.s_status._bYHomed=FALSE;
    g_machine.s_status._bZHomed=FALSE;
   
    CommInterface->DefaultMotor=0;
    CommInterface->WriteCommand(_bstr_t("c=1"));
    
	  m_bHomingActive=true;
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }

}

SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_IS_Homed()
{
	try 
	{
		if (g_machine.s_status._bXYZHomed && m_bHomingActive)
		{
			m_bHomingActive=false;
			SetEvent(g_hHomedEvent);
		}
		return SSI_STATUS_SMARTMOTOR_NORMAL;
	}
	catch(_com_error e)
	{
		MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
		return SSI_STATUS_SMARTMOTOR_COMMERR;
	}

}
//==================================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_startup(double dScaleResolutionX, double dScaleResolutionY, double dScaleResolutionZ)
{
  g_machine.s_machine_config.x_axis._scale_resolution = dScaleResolutionX;
  g_machine.s_machine_config.y_axis._scale_resolution = dScaleResolutionY;
  g_machine.s_machine_config.z_axis._scale_resolution = dScaleResolutionZ;


  return SSI_STATUS_SMARTMOTOR_NORMAL;
};
//==================================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_get_position_xyz(double & dX, double & dY, double & dZ)
{
  //WaitForSingleObject(g_hHomedEvent, INFINITE);   // machine start and homing is done

  _send_cmd_SMARTMOTOR_GET_POS_XYZ();
  g_machine.x._d_cur_pos=ScaleToMM(g_machine.x._l_cur_pos,g_machine.s_machine_config.x_axis._scale_resolution);
  g_machine.y._d_cur_pos=ScaleToMM(g_machine.y._l_cur_pos,g_machine.s_machine_config.y_axis._scale_resolution);
  g_machine.z._d_cur_pos=ScaleToMM(g_machine.z._l_cur_pos,g_machine.s_machine_config.z_axis._scale_resolution);

  dX=g_machine.x._d_cur_pos;
  dY=g_machine.y._d_cur_pos;
  dZ=g_machine.z._d_cur_pos;

  return SSI_STATUS_SMARTMOTOR_NORMAL;
};
//==================================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_get_pos_pulse_xyz(long & lX, long & lY, long & lZ)
{
 //WaitForSingleObject(g_hHomedEvent, INFINITE);   // machine start and homing is done

	_send_cmd_SMARTMOTOR_GET_POS_XYZ();
	lX=g_machine.x._l_cur_pos;
	lY=g_machine.y._l_cur_pos;
	lZ=g_machine.z._l_cur_pos;

	return SSI_STATUS_SMARTMOTOR_NORMAL;
};
//==================================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_set_position_xyz(double dX, double dY, double dZ, bool bWait)
{
  WaitForSingleObject(g_hHomedEvent, INFINITE);   // machine start and homing is done

  _send_cmd_SMARTMOTOR_MOVETOX_ABS(dX);
  _send_cmd_SMARTMOTOR_MOVETOY_ABS(dY);
  _send_cmd_SMARTMOTOR_MOVETOZ_ABS(dZ);

#pragma message("Test settle wait comparing the status bit to the scale monitor")

  if (bWait)
  {
    const long lSleep = 20;
    const long lMaxLoopCnt = 10000/lSleep;    // use max homing time of 20 seconds
    long lLoopCnt = 0;    
    Sleep(lSleep);

    while (g_machine.s_status._bXYZMoving && lLoopCnt < lMaxLoopCnt)
    {
      Sleep(lSleep);
      smartmotor_motion_get_motion_status();
      ++lLoopCnt;
    } 

  }

  return SSI_STATUS_SMARTMOTOR_NORMAL;
};

//==================================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_move_rel_dis_xyz(double dX, double dY, double dZ, bool bWait)
{
  WaitForSingleObject(g_hHomedEvent, INFINITE);   // machine start and homing is done

  _send_cmd_SMARTMOTOR_MOVETOX_REL(dX);
  _send_cmd_SMARTMOTOR_MOVETOY_REL(dY);
  _send_cmd_SMARTMOTOR_MOVETOZ_REL(dZ);


  if (bWait)
  {
    const long lSleep = 20;
    const long lMaxLoopCnt = 10000/lSleep;    // use max homing time of 20 seconds
    long lLoopCnt = 0;    
    Sleep(lSleep);

    while (g_machine.s_status._bXYZMoving && lLoopCnt < lMaxLoopCnt)
    {
      Sleep(lSleep);
      smartmotor_motion_get_motion_status();
      ++lLoopCnt;
    } 

  }

  return SSI_STATUS_SMARTMOTOR_NORMAL;
};
//==================================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_stop_xyz()
{
  //WaitForSingleObject(g_hHomedEvent, INFINITE);   // machine start and homing is done

  _send_cmd_SMARTMOTOR_DECEL_STOPX();
  _send_cmd_SMARTMOTOR_DECEL_STOPY();
  _send_cmd_SMARTMOTOR_DECEL_STOPZ();

  return SSI_STATUS_SMARTMOTOR_NORMAL;
};
//==================================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_stop_xyz_S()
{
	//WaitForSingleObject(g_hHomedEvent, INFINITE);   // machine start and homing is done

	_send_cmd_SMARTMOTOR_ABRUPT_STOPX();
	_send_cmd_SMARTMOTOR_ABRUPT_STOPY();
	_send_cmd_SMARTMOTOR_ABRUPT_STOPZ();

	return SSI_STATUS_SMARTMOTOR_NORMAL;
};
//==================================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_get_home_status()
{
	//WaitForSingleObject(g_hHomedEvent, INFINITE);   // machine start and homing is done
    
	if(!g_machine.s_status._bXHomed)
	  _send_cmd_SMARTMOTOR_GET_HOME_STATUS_X();
	if(!g_machine.s_status._bYHomed)
	  _send_cmd_SMARTMOTOR_GET_HOME_STATUS_Y();
	if(!g_machine.s_status._bZHomed)
	  _send_cmd_SMARTMOTOR_GET_HOME_STATUS_Z();

	g_machine.s_status._bXYZHomed=g_machine.s_status._bXHomed && g_machine.s_status._bYHomed && g_machine.s_status._bZHomed;

	return SSI_STATUS_SMARTMOTOR_NORMAL;
};

//==================================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_get_motion_status()
{
 // WaitForSingleObject(g_hHomedEvent, INFINITE);   // machine start and homing is done

  _send_cmd_SMARTMOTOR_GET_MOVE_STATUS_X();
  _send_cmd_SMARTMOTOR_GET_MOVE_STATUS_Y();
  _send_cmd_SMARTMOTOR_GET_MOVE_STATUS_Z();

  g_machine.s_status._bXYZMoving=g_machine.s_status._bXMoving || g_machine.s_status._bYMoving || g_machine.s_status._bZMoving;

  return SSI_STATUS_SMARTMOTOR_NORMAL;
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_get_status_word()
{
 // WaitForSingleObject(g_hHomedEvent, INFINITE);   // machine start and homing is done

  _send_cmd_SMARTMOTOR_GET_STATUS_WORD0();
  _send_cmd_SMARTMOTOR_GET_STATUS_WORD16();
  
  g_machine.x.s_machine_status.DriverRdy    = g_machine.x.s_machine_status.StatusWord[0] & HBIT0;
  g_machine.x.s_machine_status.MotorOff     = g_machine.x.s_machine_status.StatusWord[0] & HBIT1;
  g_machine.x.s_machine_status.VoltageFault = g_machine.x.s_machine_status.StatusWord[0] & HBIT3;
  g_machine.x.s_machine_status.PosErr       = g_machine.x.s_machine_status.StatusWord[0] & HBIT6;
  g_machine.x.s_machine_status.OverHeat     = g_machine.x.s_machine_status.StatusWord[0] & HBIT8;
  g_machine.x.s_machine_status.NegLimit     = g_machine.x.s_machine_status.StatusWord[1] & HBIT3;
  g_machine.x.s_machine_status.PosLimit     = g_machine.x.s_machine_status.StatusWord[1] & HBIT2;

  g_machine.y.s_machine_status.DriverRdy    = g_machine.y.s_machine_status.StatusWord[0] & HBIT0;
  g_machine.y.s_machine_status.MotorOff     = g_machine.y.s_machine_status.StatusWord[0] & HBIT1;
  g_machine.y.s_machine_status.VoltageFault = g_machine.y.s_machine_status.StatusWord[0] & HBIT3;
  g_machine.y.s_machine_status.PosErr       = g_machine.y.s_machine_status.StatusWord[0] & HBIT6;
  g_machine.y.s_machine_status.OverHeat     = g_machine.y.s_machine_status.StatusWord[0] & HBIT8;
  g_machine.y.s_machine_status.NegLimit     = g_machine.y.s_machine_status.StatusWord[1] & HBIT3;
  g_machine.y.s_machine_status.PosLimit     = g_machine.y.s_machine_status.StatusWord[1] & HBIT2;

  g_machine.z.s_machine_status.DriverRdy    = g_machine.z.s_machine_status.StatusWord[0] & HBIT0;
  g_machine.z.s_machine_status.MotorOff     = g_machine.z.s_machine_status.StatusWord[0] & HBIT1;
  g_machine.z.s_machine_status.VoltageFault = g_machine.z.s_machine_status.StatusWord[0] & HBIT3;
  g_machine.z.s_machine_status.PosErr       = g_machine.z.s_machine_status.StatusWord[0] & HBIT6;
  g_machine.z.s_machine_status.OverHeat     = g_machine.z.s_machine_status.StatusWord[0] & HBIT8;
  g_machine.z.s_machine_status.NegLimit     = g_machine.z.s_machine_status.StatusWord[1] & HBIT3;
  g_machine.z.s_machine_status.PosLimit     = g_machine.z.s_machine_status.StatusWord[1] & HBIT2;

  
  return SSI_STATUS_SMARTMOTOR_NORMAL;
};
////========================================================================
//SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_calculate_straightline_motion(double dSpeedMM)
//{
//
//  return SSI_STATUS_SMARTMOTOR_NORMAL;
//}

//**********************************************************************//

//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_POS_XYZ()
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    Sleep(10);
    CommInterface->DefaultMotor=g_machine.x.address;
    CommInterface->WriteCommand(_bstr_t("RPA"));
    g_machine.x._l_cur_pos=atoi(CommInterface->ReadResponse());
    Sleep(10);
    CommInterface->DefaultMotor=g_machine.y.address;
    CommInterface->WriteCommand(_bstr_t("RPA"));
    g_machine.y._l_cur_pos=atoi(CommInterface->ReadResponse());
    Sleep(10);
    CommInterface->DefaultMotor=g_machine.z.address;
    CommInterface->WriteCommand(_bstr_t("RPA"));
    g_machine.z._l_cur_pos=atoi(CommInterface->ReadResponse());
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};

//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_MOVETOX_ABS(double dis)
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CString csTmp;
    CommInterface->DefaultMotor=g_machine.x.address;
    CommInterface->WriteCommand(("MP"));
    g_machine.x._l_move_dis=MMtoScale(dis,g_machine.s_machine_config.x_axis._scale_resolution);
    csTmp.Format(_T("PT=%d"),g_machine.x._l_move_dis);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    csTmp.Format(_T("VT=%d"),g_machine.s_machine_config.x_axis._speed_[g_machine.x._Move_Speed_Gear]);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    csTmp.Format(_T("AT=%d"),g_machine.s_machine_config.x_axis._accel_[g_machine.x._Move_Speed_Gear]);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    csTmp.Format(_T("DT=%d"),g_machine.s_machine_config.x_axis._decel_[g_machine.x._Move_Speed_Gear]);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    CommInterface->WriteCommand(("ZS"));
    CommInterface->WriteCommand(("G"));

    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);

    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};

//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_MOVETOY_ABS(double dis)
{  try
{
  WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

  CString csTmp;
  CommInterface->DefaultMotor=g_machine.y.address;
  CommInterface->WriteCommand(("MP"));
  g_machine.y._l_move_dis=MMtoScale(dis,g_machine.s_machine_config.y_axis._scale_resolution);
  csTmp.Format(_T("PT=%d"),g_machine.y._l_move_dis);
  CommInterface->WriteCommand(_bstr_t(csTmp));
  csTmp.Format(_T("VT=%d"),g_machine.s_machine_config.y_axis._speed_[g_machine.y._Move_Speed_Gear]);
  CommInterface->WriteCommand(_bstr_t(csTmp));
  csTmp.Format(_T("AT=%d"),g_machine.s_machine_config.y_axis._accel_[g_machine.y._Move_Speed_Gear]);
  CommInterface->WriteCommand(_bstr_t(csTmp));
  csTmp.Format(_T("DT=%d"),g_machine.s_machine_config.y_axis._decel_[g_machine.y._Move_Speed_Gear]);
  CommInterface->WriteCommand(_bstr_t(csTmp));
  CommInterface->WriteCommand(("ZS"));
  CommInterface->WriteCommand(("G"));

  ReleaseMutex(g_machine_Serial_Mutex);
  return SSI_STATUS_SMARTMOTOR_NORMAL;
}
catch(_com_error e)
{
  MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);

  ReleaseMutex(g_machine_Serial_Mutex);
  return SSI_STATUS_SMARTMOTOR_COMMERR;
}  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_MOVETOZ_ABS(double dis)
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CString csTmp;
    CommInterface->DefaultMotor=g_machine.z.address;
    CommInterface->WriteCommand(("MP"));
    g_machine.z._l_move_dis=MMtoScale(dis,g_machine.s_machine_config.z_axis._scale_resolution);
    csTmp.Format(_T("PT=%d"),g_machine.z._l_move_dis);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    csTmp.Format(_T("VT=%d"),g_machine.s_machine_config.z_axis._speed_[g_machine.z._Move_Speed_Gear]);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    csTmp.Format(_T("AT=%d"),g_machine.s_machine_config.z_axis._accel_[g_machine.z._Move_Speed_Gear]);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    csTmp.Format(_T("DT=%d"),g_machine.s_machine_config.z_axis._decel_[g_machine.z._Move_Speed_Gear]);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    CommInterface->WriteCommand(("ZS"));
    CommInterface->WriteCommand(("G"));

    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};


//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_MOVETOX_REL(double dis)
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CString csTmp;
    CommInterface->DefaultMotor=g_machine.x.address;
    CommInterface->WriteCommand(("MP"));
    g_machine.x._l_move_dis=MMtoScale(dis,g_machine.s_machine_config.x_axis._scale_resolution);
    csTmp.Format(_T("PRT=%d"),g_machine.x._l_move_dis);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    csTmp.Format(_T("VT=%d"),g_machine.s_machine_config.x_axis._speed_[g_machine.x._Move_Speed_Gear]);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    csTmp.Format(_T("AT=%d"),g_machine.s_machine_config.x_axis._accel_[g_machine.x._Move_Speed_Gear]);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    csTmp.Format(_T("DT=%d"),g_machine.s_machine_config.x_axis._decel_[g_machine.x._Move_Speed_Gear]);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    CommInterface->WriteCommand(("ZS"));
    CommInterface->WriteCommand(("G"));

    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);

    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};

//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_MOVETOY_REL(double dis)
{  try
{
  WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

  CString csTmp;
  CommInterface->DefaultMotor=g_machine.y.address;
  CommInterface->WriteCommand(("MP"));
  g_machine.y._l_move_dis=MMtoScale(dis,g_machine.s_machine_config.y_axis._scale_resolution);
  csTmp.Format(_T("PRT=%d"),g_machine.y._l_move_dis);
  CommInterface->WriteCommand(_bstr_t(csTmp));
  csTmp.Format(_T("VT=%d"),g_machine.s_machine_config.y_axis._speed_[g_machine.y._Move_Speed_Gear]);
  CommInterface->WriteCommand(_bstr_t(csTmp));
  csTmp.Format(_T("AT=%d"),g_machine.s_machine_config.y_axis._accel_[g_machine.y._Move_Speed_Gear]);
  CommInterface->WriteCommand(_bstr_t(csTmp));
  csTmp.Format(_T("DT=%d"),g_machine.s_machine_config.y_axis._decel_[g_machine.y._Move_Speed_Gear]);
  CommInterface->WriteCommand(_bstr_t(csTmp));
  CommInterface->WriteCommand(("ZS"));
  CommInterface->WriteCommand(("G"));

  ReleaseMutex(g_machine_Serial_Mutex);
  return SSI_STATUS_SMARTMOTOR_NORMAL;
}
catch(_com_error e)
{
  MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);

  ReleaseMutex(g_machine_Serial_Mutex);
  return SSI_STATUS_SMARTMOTOR_COMMERR;
}  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_MOVETOZ_REL(double dis)
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CString csTmp;
    CommInterface->DefaultMotor=g_machine.z.address;
    CommInterface->WriteCommand(("MP"));
    g_machine.z._l_move_dis=MMtoScale(dis,g_machine.s_machine_config.z_axis._scale_resolution);
    csTmp.Format(_T("PRT=%d"),g_machine.z._l_move_dis);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    csTmp.Format(_T("VT=%d"),g_machine.s_machine_config.z_axis._speed_[g_machine.z._Move_Speed_Gear]);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    csTmp.Format(_T("AT=%d"),g_machine.s_machine_config.z_axis._accel_[g_machine.z._Move_Speed_Gear]);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    csTmp.Format(_T("DT=%d"),g_machine.s_machine_config.z_axis._decel_[g_machine.z._Move_Speed_Gear]);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    CommInterface->WriteCommand(("ZS"));
    CommInterface->WriteCommand(("G"));

    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_MOVEX(BOOL dir)
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CString csTmp;
    CommInterface->DefaultMotor=g_machine.x.address;
    CommInterface->WriteCommand(("MV"));
    if (dir)
    {
      csTmp.Format(_T("VT=%d"),g_machine.s_machine_config.x_axis._speed_[g_machine.x._Move_Speed_Gear]);
    } 
    else
    {
      csTmp.Format(_T("VT=%d"),-g_machine.s_machine_config.x_axis._speed_[g_machine.x._Move_Speed_Gear]);
    }
    CommInterface->WriteCommand(_bstr_t(csTmp));
    csTmp.Format(_T("AT=%d"),g_machine.s_machine_config.x_axis._accel_[g_machine.x._Move_Speed_Gear]);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    csTmp.Format(_T("DT=%d"),g_machine.s_machine_config.x_axis._decel_[g_machine.x._Move_Speed_Gear]);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    CommInterface->WriteCommand(("XS"));
    CommInterface->WriteCommand(("G"));

    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_MOVEY(BOOL dir)
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CString csTmp;
    CommInterface->DefaultMotor=g_machine.y.address;
    CommInterface->WriteCommand(("MV"));
    if (dir)
    {
      csTmp.Format(_T("VT=%d"),g_machine.s_machine_config.y_axis._speed_[g_machine.y._Move_Speed_Gear]);
    } 
    else
    {
      csTmp.Format(_T("VT=%d"),-g_machine.s_machine_config.y_axis._speed_[g_machine.y._Move_Speed_Gear]);
    }    
    CommInterface->WriteCommand(_bstr_t(csTmp));
    csTmp.Format(_T("AT=%d"),g_machine.s_machine_config.y_axis._accel_[g_machine.y._Move_Speed_Gear]);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    csTmp.Format(_T("DT=%d"),g_machine.s_machine_config.y_axis._decel_[g_machine.y._Move_Speed_Gear]);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    CommInterface->WriteCommand(("YS"));
    CommInterface->WriteCommand(("G"));

    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_MOVEZ(BOOL dir)
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CString csTmp;
    CommInterface->DefaultMotor=g_machine.z.address;
    CommInterface->WriteCommand(("MV"));
    if (dir)
    {
      csTmp.Format(_T("VT=%d"),g_machine.s_machine_config.z_axis._speed_[g_machine.z._Move_Speed_Gear]);
    } 
    else
    {
      csTmp.Format(_T("VT=%d"),-g_machine.s_machine_config.z_axis._speed_[g_machine.z._Move_Speed_Gear]);
    }
    CommInterface->WriteCommand(_bstr_t(csTmp));
    csTmp.Format(_T("AT=%d"),g_machine.s_machine_config.z_axis._accel_[g_machine.z._Move_Speed_Gear]);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    csTmp.Format(_T("DT=%d"),g_machine.s_machine_config.z_axis._decel_[g_machine.z._Move_Speed_Gear]);
    CommInterface->WriteCommand(_bstr_t(csTmp));
    CommInterface->WriteCommand(("ZS"));
    CommInterface->WriteCommand(("G"));

    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_ABRUPT_STOPX()
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CommInterface->DefaultMotor=g_machine.x.address;
    CommInterface->WriteCommand(("S"));
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_ABRUPT_STOPY()
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CommInterface->DefaultMotor=g_machine.y.address;
    CommInterface->WriteCommand(("S"));
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_ABRUPT_STOPZ()
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CommInterface->DefaultMotor=g_machine.z.address;
    CommInterface->WriteCommand(("S"));
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};

//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_DECEL_STOPX()
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CommInterface->DefaultMotor=g_machine.x.address;
    CommInterface->WriteCommand(("X"));
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_DECEL_STOPY()
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CommInterface->DefaultMotor=g_machine.y.address;
    CommInterface->WriteCommand(("X"));
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_DECEL_STOPZ()
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CommInterface->DefaultMotor=g_machine.z.address;
    CommInterface->WriteCommand(("X"));
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};

//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_COMM_CMDX(CString _command)
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CommInterface->DefaultMotor=g_machine.x.address;
    CommInterface->WriteCommand(_bstr_t(_command));

    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_COMM_CMDY(CString _command)
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CommInterface->DefaultMotor=g_machine.y.address;
    CommInterface->WriteCommand(_bstr_t(_command));

    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_COMM_CMDZ(CString _command)
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CommInterface->DefaultMotor=g_machine.z.address;
    CommInterface->WriteCommand(_bstr_t(_command));

    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_COMM_RESPONSEX(CString &_response)
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CommInterface->DefaultMotor=g_machine.x.address;
    _response=static_cast<LPCTSTR>(CommInterface->ReadResponse());

    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_COMM_RESPONSEY(CString &_response)
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CommInterface->DefaultMotor=g_machine.y.address;
    _response=static_cast<LPCTSTR>(CommInterface->ReadResponse());

    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_COMM_RESPONSEZ(CString &_response)
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CommInterface->DefaultMotor=g_machine.z.address;
    _response=static_cast<LPCTSTR>(CommInterface->ReadResponse());

    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_HOME_STATUS_X()
{
	try
	{
		WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    	CommInterface->DefaultMotor=g_machine.x.address;
		CommInterface->WriteCommand(_bstr_t("Rhh"));
		g_machine.s_status._bXHomed=(atoi)(CommInterface->ReadResponse());
	
		ReleaseMutex(g_machine_Serial_Mutex);
		return SSI_STATUS_SMARTMOTOR_NORMAL;
	}
	catch(_com_error e)
	{
		MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
		ReleaseMutex(g_machine_Serial_Mutex);
		return SSI_STATUS_SMARTMOTOR_COMMERR;
	}  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_HOME_STATUS_Y()
{
	try
	{
		WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

		CommInterface->DefaultMotor=g_machine.y.address;
		CommInterface->WriteCommand(_bstr_t("Rhh"));
		g_machine.s_status._bYHomed=(atoi)(CommInterface->ReadResponse());
	
		ReleaseMutex(g_machine_Serial_Mutex);
		return SSI_STATUS_SMARTMOTOR_NORMAL;
	}
	catch(_com_error e)
	{
		MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
		ReleaseMutex(g_machine_Serial_Mutex);
		return SSI_STATUS_SMARTMOTOR_COMMERR;
	}  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_HOME_STATUS_Z()
{
	try
	{
		WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    	CommInterface->DefaultMotor=g_machine.z.address;
		CommInterface->WriteCommand(_bstr_t("Rhh"));
		g_machine.s_status._bZHomed=(atoi)(CommInterface->ReadResponse());

		ReleaseMutex(g_machine_Serial_Mutex);
		return SSI_STATUS_SMARTMOTOR_NORMAL;
	}
	catch(_com_error e)
	{
		MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
		ReleaseMutex(g_machine_Serial_Mutex);
		return SSI_STATUS_SMARTMOTOR_COMMERR;
	}  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_MOVE_STATUS_X()
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CommInterface->DefaultMotor=g_machine.x.address;
    CommInterface->WriteCommand(("RBt"));
    g_machine.s_status._bXMoving=atoi(CommInterface->ReadResponse());

    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_MOVE_STATUS_Y()
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CommInterface->DefaultMotor=g_machine.y.address;
    CommInterface->WriteCommand(("RBt"));
    g_machine.s_status._bYMoving=atoi(CommInterface->ReadResponse());

    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};
//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_MOVE_STATUS_Z()
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CommInterface->DefaultMotor=g_machine.z.address;
    CommInterface->WriteCommand(("RBt"));
    g_machine.s_status._bZMoving=atoi(CommInterface->ReadResponse());

    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};


//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_STATUS_WORD0()
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CommInterface->DefaultMotor=g_machine.x.address;
    CommInterface->WriteCommand(("RW(0)"));
    g_machine.x.s_machine_status.StatusWord[0]=atoi(CommInterface->ReadResponse());

    CommInterface->DefaultMotor=g_machine.y.address;
    CommInterface->WriteCommand(("RW(0)"));
    g_machine.y.s_machine_status.StatusWord[0]=atoi(CommInterface->ReadResponse());

    CommInterface->DefaultMotor=g_machine.z.address;
    CommInterface->WriteCommand(("RW(0)"));
    g_machine.z.s_machine_status.StatusWord[0]=atoi(CommInterface->ReadResponse());
    
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};//==============================================================
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_STATUS_WORD16()
{
  try
  {
    WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);

    CommInterface->DefaultMotor=g_machine.x.address;
    CommInterface->WriteCommand(("RW(16)"));
    g_machine.x.s_machine_status.StatusWord[1]=atoi(CommInterface->ReadResponse());

    CommInterface->DefaultMotor=g_machine.y.address;
    CommInterface->WriteCommand(("RW(16)"));
    g_machine.y.s_machine_status.StatusWord[1]=atoi(CommInterface->ReadResponse());

    CommInterface->DefaultMotor=g_machine.z.address;
    CommInterface->WriteCommand(("RW(16)"));
    g_machine.z.s_machine_status.StatusWord[1]=atoi(CommInterface->ReadResponse());

    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_NORMAL;
  }
  catch(_com_error e)
  {
    MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
    ReleaseMutex(g_machine_Serial_Mutex);
    return SSI_STATUS_SMARTMOTOR_COMMERR;
  }  
};