// protocol for control SevenOcean's Machine
//
//////////////////////////////////////////////////////////////////////
#ifndef AFX_ANIMATICS_Proto_H__B422904C_2CEB_495B_B7BD_B45AB30286DD__INCLUDED_
  #define AFX_ANIMATICS_Proto_H__B422904C_2CEB_495B_B7BD_B45AB30286DD__INCLUDED_

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

#include "..\Tools\UsbUtility\logger.h"
#include "..\MicroVu\SsiStatus.h"
#include "SMIDefs.h"
//#include "IntegMotorInterface.h"


#import "IntegMotorInterface.tlb"
using namespace INTEGMOTORINTERFACELib;

#define MAX_BUFF_SIZE                    0x200

#undef  THREAD_RUNNING_STATE
#define THREAD_RUNNING_STATE            0
#define THREAD_PAUSED                   1
#define THREAD_EXIT                    -1
#define HBIT0  0X0001
#define HBIT1  0X0002
#define HBIT2  0X0004
#define HBIT3  0X0008
#define HBIT4  0X0010
#define HBIT5  0X0020
#define HBIT6  0X0040
#define HBIT7  0X0080
#define HBIT8  0X0100
#define HBIT9  0X0200
#define HBIT10 0X0400
#define HBIT11 0X0800
#define HBIT12 0X1000
#define HBIT13 0X2000
#define HBIT14 0X4000
#define HBIT15 0X8000


#pragma pack(push)
#pragma pack(1)
//====================================================================================================
typedef struct s_smartmotor_axis            // axis parameters
{
	char   _Move_Speed_Gear;
  long   _l_move_dis;
  double _d_move_dis;
  long   _l_cur_pos;
	double _d_cur_pos;
	double _dSet_Zero_Pos;
	long   _lSet_Zero_Pos;
  long   address;
  struct s_machine_status
  { 
    int StatusWord[2];

    BOOL DriverRdy;
    BOOL MotorOff;
    BOOL VoltageFault;
    BOOL PosErr;
    BOOL OverHeat;
    BOOL NegLimit;
    BOOL PosLimit;


  } s_machine_status;

} SMARTMOTORAXIS;
//====================================================================================================
struct s_smartmotor_axis_config     // axis configuration
{
	double _motor_precision;//set precision

  int _speed_[5];
	int _accel_[5];
	int _decel_[5];

	double _neg_working_limit;
	double _pos_working_limit;

	double _scale_resolution;
};
//====================================================================================================
typedef struct s_smartmotor_xyzzm
{
	bool bFast;
	long from;
	long to;
	long speed;
	long acc;
	long dec;
	double dFromMM;
	double dToMM;
} SMARTMOTORAXISMOVE; 
//====================================================================================================
struct struct_smartmotor_machine
{   // g_machine structure
	struct s_machine_config
	{
		struct s_smartmotor_axis_config    x_axis;
		struct s_smartmotor_axis_config    y_axis;
		struct s_smartmotor_axis_config    z_axis;

	} s_machine_config;
	struct s_status	{
    BOOL _bXHomed;
    BOOL _bYHomed;
    BOOL _bZHomed;
		BOOL _bXYZHomed;

		BOOL _machine_running;
		BOOL _bXMoving;
		BOOL _bYMoving;
		BOOL _bZMoving;
		BOOL _bXYZMoving;
	} s_status;

	struct s_smartmotor_axis   x;
	struct s_smartmotor_axis   y;
	struct s_smartmotor_axis   z;
};

#pragma pack(pop)

//====================================================================================================
class SmartMotor_Proto
{
public:
  //=============Smart Motor===================
  //ISMICommPtr		CommInterface;
  //ISMICMotionPtr	CMotionInterface;
  //ISMIPathPtr		PathInterface;

  ISMICommPtr		CommInterface;
  ISMICMotionPtr	CMotionInterface;
  ISMIPathPtr		PathInterface;

	// machine threads.
	static int       g_machine_Thread_State;
	static unsigned  __stdcall g_machine_Thread(LPVOID pThis);
	static HANDLE    g_machine_Thread_Id;
	static HANDLE    g_machine_Serial_Mutex;             // EP02

	static HANDLE    g_hHomedEvent;

	//
	SmartMotor_Proto();
	virtual ~SmartMotor_Proto();

	// Global Structures
	static struct_smartmotor_machine g_machine;

	static double TimeInSecs(void);
	static CLogger* g_pLogger;

	bool m_bHomingActive;

	double ScaleToMM(long lCount, double dResolution);
	long MMtoScale(double lDistanceMM, double dResolution);
	static void _swap_byte(unsigned short &Val);
	static void _reverse_dword(DWORD *);
	static void _scale2inch(unsigned long scale, double &inch);
	static void _inch2scale(unsigned long &scale, double inch);
	static long _4char2long(unsigned char *cBuff);
	static long _3char2long(unsigned char *cBuff);
	static void _char2bin(unsigned char *cBuff, BYTE *cBytes, int len);

	SSI_STATUS_SMARTMOTOR Create_thread();
  SSI_STATUS_SMARTMOTOR Exit_thread();



  SSI_STATUS_SMARTMOTOR GetAppPath(CString &Path);
  SSI_STATUS_SMARTMOTOR ExtractAppPath(CString &Path);
	SSI_STATUS_SMARTMOTOR SaveSmartMotorConfig();
	SSI_STATUS_SMARTMOTOR LoadSmartMotorConfig();
  
  BOOL InitSmartMotor();
  void StartSmartMotor();
  void StopSmartMotor();
  void _reset_config_parameter();


	SSI_STATUS_SMARTMOTOR smartmotor_motion_startup(double x_scale_resolution, double y_scale_resolution, double z_scale_resolution);
  SSI_STATUS_SMARTMOTOR smartmotor_motion_Dcc_Home();
  SSI_STATUS_SMARTMOTOR smartmotor_motion_IS_Homed();

  SSI_STATUS_SMARTMOTOR _start_machine();
	SSI_STATUS_SMARTMOTOR _shutdown_machine();

	SSI_STATUS_SMARTMOTOR smartmotor_motion_get_position_xyz(double & dX, double & dY, double & dZ);
	SSI_STATUS_SMARTMOTOR smartmotor_motion_get_pos_pulse_xyz(long & lX, long & lY, long & lZ);
	SSI_STATUS_SMARTMOTOR smartmotor_motion_set_position_xyz(double dX, double dY, double dZ, bool bWait);
  SSI_STATUS_SMARTMOTOR smartmotor_motion_move_rel_dis_xyz(double dX, double dY, double dZ, bool bWait);
  SSI_STATUS_SMARTMOTOR smartmotor_motion_stop_xyz();
  SSI_STATUS_SMARTMOTOR smartmotor_motion_stop_xyz_S();

  SSI_STATUS_SMARTMOTOR smartmotor_motion_get_home_status();
  SSI_STATUS_SMARTMOTOR smartmotor_motion_get_motion_status();
  SSI_STATUS_SMARTMOTOR smartmotor_motion_get_status_word();

	SSI_STATUS_SMARTMOTOR _calculate_straightline_motion(double dSpeedMM);

	SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_POS_XYZ();
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVETOX_ABS(double dis);
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVETOY_ABS(double dis);
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVETOZ_ABS(double dis);
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVETOX_REL(double dis);
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVETOY_REL(double dis);
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVETOZ_REL(double dis);
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVEX(BOOL dir);
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVEY(BOOL dir);
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVEZ(BOOL dir);

  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_ABRUPT_STOPX();
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_ABRUPT_STOPY();
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_ABRUPT_STOPZ();
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_DECEL_STOPX();
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_DECEL_STOPY();
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_DECEL_STOPZ();

  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_COMM_CMDX(CString _command);
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_COMM_CMDY(CString _command);
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_COMM_CMDZ(CString _command);
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_COMM_RESPONSEX(CString &_response);
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_COMM_RESPONSEY(CString &_response);
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_COMM_RESPONSEZ(CString &_response);



  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_MOVE_STATUS_X();
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_MOVE_STATUS_Y();
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_MOVE_STATUS_Z();
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_HOME_STATUS_X();
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_HOME_STATUS_Y();
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_HOME_STATUS_Z();
  
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_STATUS_WORD0();
  SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_STATUS_WORD16();

  static SSI_STATUS_SMARTMOTOR _process_SO7_CMD_MOVE_TO_POS_XYZ();

  
};

#endif