// MachineInterfaceDll.cpp : 定义 DLL 应用程序的导出函数。
//

#include "stdafx.h"
#include <BaseTsd.h>
#include <WinBase.h>
#include <WinDef.h>
#include <atltypes.h>
#include <tchar.h>
#include <atlstr.h> 
#include "..\..\..\SevenOcean\DLL.h"
#include "..\..\..\SevenOcean\EF8000_Interface.h"
#include "..\..\..\SevenOcean\SO7_Proto.h"
#include "MachineInterfaceDll.h"

CEF8000_Interface* m_pEF8000_Interface=NULL;
CSO7_Proto*  m_pSO7_Proto=NULL;
bool g_bOfflineOnly(false);
EMACHINE_AXIS ActiveAxis=MACHINE_AXIS_NONE;
SSI_STATUS_MOTION LoadMotionParameter();

//==================================================================
extern "C" EXP_IMP SSI_STATUS_MOTION Machine_Startup(bool bOfflineOnly,EHOME_MACHINE_MODE cHomeMachineMode)
{
  SSI_STATUS_MOTION rStatus=SSI_STATUS_MOTION_NORMAL;
  g_bOfflineOnly=bOfflineOnly;
  if (!g_bOfflineOnly)
  {
    if (!m_pSO7_Proto)
    {
      m_pSO7_Proto=new CSO7_Proto();
    }
    rStatus=m_pSO7_Proto->Init_SO7Usb();
    if (rStatus==SSI_STATUS_MOTION_NORMAL)
    {
      m_pSO7_Proto->_start_machine();
      if (rStatus==SSI_STATUS_MOTION_NORMAL)
      {
        rStatus=m_pSO7_Proto->Load_So7_Config_Inifile(1);
        rStatus=LoadMotionParameter();
        if (rStatus==SSI_STATUS_MOTION_NORMAL)
        {
          m_pSO7_Proto->so7_motion_init_firmware_para();
          m_pSO7_Proto->so7_motion_set_all_speed_para();
          m_pSO7_Proto->so7_motion_set_all_so7_config();

          switch (cHomeMachineMode)
          {
          case HOME_R:
            {
              m_pSO7_Proto->so7_motion_Dcc_Home_R();
              break;
            }
          case HOME_XYZ:
          case HOME_X:
          case HOME_Y:
          case HOME_Z:
          case HOME_XY:
          case HOME_XZ:
          case HOME_YZ:
            {
              m_pSO7_Proto->so7_motion_Dcc_HomeXYZ(static_cast<char>(cHomeMachineMode));
              break;
            }
          default:
            {
              break;
            }
          }
        }
      }
    }
  }
  return rStatus;
}
//==================================================================
extern "C" EXP_IMP SSI_STATUS_MOTION Machine_Shutdown()
{
  if (m_pEF8000_Interface)
  {
    delete m_pEF8000_Interface;
    m_pEF8000_Interface=nullptr;
  }
  if (m_pSO7_Proto)
  {
    m_pSO7_Proto->_send_cmd_SO7_CMD_STOP_MOVE_XYZ();
    Sleep(10);
    m_pSO7_Proto->so7_light_set_light_off();
    if(m_pSO7_Proto->g_machine.IsSupportReadInterrputMsg)
    {
      m_pSO7_Proto->_send_cmd_SO7_CMD_SET_GET_INTERRUPT_MSG_METHOD(E_GET_INTERRUPT_MSG_INTERRUPT);
    }
    m_pSO7_Proto->_shutdown_machine();
    m_pSO7_Proto->Exit_SO7Usb();
    delete m_pSO7_Proto;
    m_pSO7_Proto=nullptr;
  }
  return SSI_STATUS_MOTION_NORMAL;
}

/**************************Motion**********************************/
EXP_IMP SSI_STATUS_MOTION Motion_DCCHomeXYZ(EHOME_MACHINE_MODE cHomeMachineMode)
{
  if (!g_bOfflineOnly)
  {
    if (m_pSO7_Proto)
    {    
      return m_pSO7_Proto->so7_motion_Dcc_HomeXYZ(static_cast<char>(cHomeMachineMode));
    }
    else
    {
      return SSI_STATUS_MACHINE_UNINITIALIZED;
    }
  }
  else
  {
    return SSI_STATUS_MOTION_NORMAL;
  }
}
EXP_IMP SSI_STATUS_MOTION Motion_IsHomedXYZ(bool &bHomed)
{
  if (!g_bOfflineOnly)
  {
    if (m_pSO7_Proto)
    {    
      bHomed=m_pSO7_Proto->so7_motion_is_homed();
      return SSI_STATUS_MOTION_NORMAL;
    }
    else
    {
      return SSI_STATUS_MACHINE_UNINITIALIZED;
    }
  }
  else
  {
    return SSI_STATUS_MOTION_NORMAL;
  }
}
EXP_IMP SSI_STATUS_MOTION Motion_GetPositionXYZ(double &PositionX, double &PositionY, double &PositionZ)
{
  if (!g_bOfflineOnly)
  {
    if (m_pSO7_Proto)
    {    
      return m_pSO7_Proto->so7_motion_get_position_xyz(PositionX,PositionY,PositionZ);
    }
    else
    {
      return SSI_STATUS_MACHINE_UNINITIALIZED;
    }
  }
  else
  {
    return SSI_STATUS_MOTION_NORMAL;
  }
}
EXP_IMP SSI_STATUS_MOTION Motion_SetPositionXYZ(double PositionX, double PositionY, double PositionZ,bool bWait)
{
  if (!g_bOfflineOnly)
  {
    if (m_pSO7_Proto)
    {    
      return m_pSO7_Proto->so7_motion_set_position_xyz(PositionX,PositionY,PositionZ,bWait);
    }
    else
    {
      return SSI_STATUS_MACHINE_UNINITIALIZED;
    }
  }
  else
  {
    return SSI_STATUS_MOTION_NORMAL;
  }
}
EXP_IMP SSI_STATUS_MOTION Motion_IsFinishedXYZ(bool &bFinished)
{
  if (!g_bOfflineOnly)
  {
    if (m_pSO7_Proto)
    {    
      return m_pSO7_Proto->so7_Motion_XYZ_IsMotionFinished(bFinished);
    }
    else
    {
      return SSI_STATUS_MACHINE_UNINITIALIZED;
    }
  }
  else
  {
    return SSI_STATUS_MOTION_NORMAL;
  }
}
EXP_IMP SSI_STATUS_MOTION Motion_SetSpeedXYZ(EMACHINE_AXIS cAxis,char cSpeedGear,char Acce,char cHoldSpeed,char cStartSpeed,char cRefreshCycle,double dBufferDis)
{
  if (!g_bOfflineOnly)
  {
    if (m_pSO7_Proto)
    {    
      return m_pSO7_Proto->so7_motion_set_speed_xyz(cAxis,cSpeedGear,Acce,cRefreshCycle,cStartSpeed,cHoldSpeed,dBufferDis);
    }
    else
    {
      return SSI_STATUS_MACHINE_UNINITIALIZED;
    }
  }
  else
  {
    return SSI_STATUS_MOTION_NORMAL;
  }
}

//SpeedGear:1,2,3,4(Faster)
EXP_IMP SSI_STATUS_MOTION Motion_Jog(EMACHINE_AXIS cAxis,char cSpeedGear)
{
  if (!g_bOfflineOnly)
  {
    if (m_pSO7_Proto)
    {    
      ActiveAxis=cAxis;
      return m_pSO7_Proto->so7_motion_jog(cAxis,cSpeedGear);      
    }
    else
    {
      return SSI_STATUS_MACHINE_UNINITIALIZED;
    }
  }
  else
  {
    return SSI_STATUS_MOTION_NORMAL;
  }
}
EXP_IMP SSI_STATUS_MOTION Motion_Stop()
{
  if (!g_bOfflineOnly)
  {
    if (m_pSO7_Proto)
    {    
      if (ActiveAxis==MACHINE_AXIS_ZOOM)
      {
        return m_pSO7_Proto->_send_cmd_SO7_CMD_STOP_V();      	
      }
      else
      {
        return m_pSO7_Proto->_send_cmd_SO7_CMD_STOP_MOVE_XYZ();
      }
    }
    else
    {
      return SSI_STATUS_MACHINE_UNINITIALIZED;
    }
  }
  else
  {
    return SSI_STATUS_MOTION_NORMAL;
  }
}

/**************************Rotary Table****************************/
//==================================================================
extern "C" EXP_IMP SSI_STATUS_MOTION Motion_GetPositionR(double& dPos)
{
  if (!g_bOfflineOnly)
  {
    if (m_pSO7_Proto)
    {    
      return m_pSO7_Proto->so7_motion_get_position_R(dPos);
    }
    else
    {
      return SSI_STATUS_MACHINE_UNINITIALIZED;
    }
  }
  else
  {
    return SSI_STATUS_MOTION_NORMAL;
  }
}
//==================================================================
extern "C" EXP_IMP SSI_STATUS_MOTION Motion_SetPositionR(double dAbsolutePos,bool bWait)
{  
  if (!g_bOfflineOnly)
  {
    if (m_pSO7_Proto)
    {
      return m_pSO7_Proto->so7_motion_set_position_R(dAbsolutePos,bWait);
    }
    else
    {
      return SSI_STATUS_MACHINE_UNINITIALIZED;
    }
  }
  else
  {
    return SSI_STATUS_MOTION_NORMAL;
  }
}
//==================================================================
extern "C" EXP_IMP SSI_STATUS_MOTION Motion_DCCHomeR()
{
  if (!g_bOfflineOnly)
  {
    if (m_pSO7_Proto)
    {
      return m_pSO7_Proto->so7_motion_Dcc_Home_R();
    }
    else
    {
      return SSI_STATUS_MACHINE_UNINITIALIZED;
    }
  }
  else
  {
    return SSI_STATUS_MOTION_NORMAL;
  }
}

//==================================================================
extern "C" EXP_IMP SSI_STATUS_MOTION Motion_IsHomedR(bool &bHomed)
{  
  if (!g_bOfflineOnly)
  {
    if (m_pSO7_Proto)
    {
      return m_pSO7_Proto->so7_Motion_R_IsHomed(bHomed);
    }
    else
    {
      return SSI_STATUS_MACHINE_UNINITIALIZED;
    }
  }
  else
  {
    return SSI_STATUS_MOTION_NORMAL;
  }
}
//==================================================================
extern "C" EXP_IMP SSI_STATUS_MOTION Motion_IsFinishedR(bool &bFinished)
{  
  if (!g_bOfflineOnly)
  {
    if (m_pSO7_Proto)
    {
      return m_pSO7_Proto->so7_Motion_R_IsMotionFInished(bFinished);
    }
    else
    {
      return SSI_STATUS_MACHINE_UNINITIALIZED;
    }
  }
  else
  {
    return SSI_STATUS_MOTION_NORMAL;
  }
}
/*******************************************************************/
EXP_IMP SSI_STATUS_MOTION Illumination_SetLampState(double dTopLightPercent,double dBottomLightPercent,double dCoaxialLightPercent,double dReservedLightPercent,double dRingLightPercent,char cOuterRingLightSwitch,char cInnerRingLightSwitch)
{
  if (!g_bOfflineOnly)
  {
    if (m_pSO7_Proto)
    {
      return m_pSO7_Proto->so7_light_set_lamp_state(dTopLightPercent,dBottomLightPercent,dCoaxialLightPercent,dReservedLightPercent,dRingLightPercent,cOuterRingLightSwitch,cInnerRingLightSwitch);
    }
    else
    {
      return SSI_STATUS_MACHINE_UNINITIALIZED;
    }
  }
  else
  {
    return SSI_STATUS_MOTION_NORMAL;
  }
}

//==============================IO================================================
EXP_IMP SSI_STATUS_MOTION Machine_GetDIO(EIO_PORT Channel,BYTE& bDISts)
{
  if (!g_bOfflineOnly)
  {
    if (m_pSO7_Proto)
    {
      return m_pSO7_Proto->so7_GetDIO(static_cast<int>(Channel),bDISts);
    }
    else
    {
      return SSI_STATUS_MACHINE_UNINITIALIZED;
    }
  }
  else
  {
    return SSI_STATUS_MOTION_NORMAL;
  }
}
EXP_IMP SSI_STATUS_MOTION Machine_SetDO(EIO_PORT Channel,BYTE bDOSts)
{
  if (!g_bOfflineOnly)
  {
    if (m_pSO7_Proto)
    {
      return m_pSO7_Proto->so7_SetDO(static_cast<int>(Channel),bDOSts);
    }
    else
    {
      return SSI_STATUS_MACHINE_UNINITIALIZED;
    }
  }
  else
  {
    return SSI_STATUS_MOTION_NORMAL;
  }
}
//==============================CMD================================================
EXP_IMP SSI_STATUS_MOTION SEND_SYS_COMMAND(char Cmd,char SubCmd,char Type,char Data)
{
  if (!g_bOfflineOnly)
  {
    if (m_pSO7_Proto)
    {
      return m_pSO7_Proto->_send_cmd_SO7_CMD_COMMON_COMMAND_DATA(Cmd,SubCmd,Type,Data);
    }
    else
    {
      return SSI_STATUS_MACHINE_UNINITIALIZED;
    }
  }
  else
  {
    return SSI_STATUS_MOTION_NORMAL;
  }
}

//==================================================================
SSI_STATUS_MOTION LoadMotionParameter()
{
  BOOL rStatus(FALSE);
  if (!m_pEF8000_Interface)
  {
    m_pEF8000_Interface=new CEF8000_Interface();
  }
  rStatus=m_pEF8000_Interface->OpenMotorDat();
  if (rStatus)
  {
    for(int j=0;j<5;j++)
    {
      m_pSO7_Proto->g_machine.s_machine_config.x_axis._speed_base[j]=m_pEF8000_Interface->Set_Speed[j][0];
      m_pSO7_Proto->g_machine.s_machine_config.x_axis._speed_max[j]=m_pEF8000_Interface->Set_Speed[j][1];     
      m_pSO7_Proto->g_machine.s_machine_config.x_axis._speed_start[j]=m_pEF8000_Interface->Set_Speed[j][2];
      m_pSO7_Proto->g_machine.s_machine_config.x_axis._speed_fresh[j]=m_pEF8000_Interface->Set_Speed[j][3];

      m_pSO7_Proto->g_machine.s_machine_config.x_axis._speed_slow_dis[j]=m_pEF8000_Interface->slow_dis[j];
    }
    for(int j=0;j<5;j++)
    {
      m_pSO7_Proto->g_machine.s_machine_config.y_axis._speed_base[j]=m_pEF8000_Interface->Set_Speed[j+5][0];
      m_pSO7_Proto->g_machine.s_machine_config.y_axis._speed_max[j]=m_pEF8000_Interface->Set_Speed[j+5][1];     
      m_pSO7_Proto->g_machine.s_machine_config.y_axis._speed_start[j]=m_pEF8000_Interface->Set_Speed[j+5][2];
      m_pSO7_Proto->g_machine.s_machine_config.y_axis._speed_fresh[j]=m_pEF8000_Interface->Set_Speed[j+5][3];

      m_pSO7_Proto->g_machine.s_machine_config.y_axis._speed_slow_dis[j]=m_pEF8000_Interface->slow_dis[j+5];
    }
    for(int j=0;j<5;j++)
    {
      m_pSO7_Proto->g_machine.s_machine_config.z_axis._speed_base[j]=m_pEF8000_Interface->Set_Speed[j+10][0];
      m_pSO7_Proto->g_machine.s_machine_config.z_axis._speed_max[j]=m_pEF8000_Interface->Set_Speed[j+10][1];     
      m_pSO7_Proto->g_machine.s_machine_config.z_axis._speed_start[j]=m_pEF8000_Interface->Set_Speed[j+10][2];
      m_pSO7_Proto->g_machine.s_machine_config.z_axis._speed_fresh[j]=m_pEF8000_Interface->Set_Speed[j+10][3];

      m_pSO7_Proto->g_machine.s_machine_config.z_axis._speed_slow_dis[j]=m_pEF8000_Interface->slow_dis[j+10];
    }
    m_pSO7_Proto->g_machine.s_machine_config.x_axis._motor_precision=m_pEF8000_Interface->g_precision[0];
    m_pSO7_Proto->g_machine.s_machine_config.y_axis._motor_precision=m_pEF8000_Interface->g_precision[1];
    m_pSO7_Proto->g_machine.s_machine_config.z_axis._motor_precision= m_pEF8000_Interface->g_precision[2];

    m_pSO7_Proto->g_machine.s_machine_config.x_axis._motor_wheelbase=m_pEF8000_Interface->Image_Info.m_Motor_Dx;
    m_pSO7_Proto->g_machine.s_machine_config.y_axis._motor_wheelbase=m_pEF8000_Interface->Image_Info.m_Motor_Dy;
    m_pSO7_Proto->g_machine.s_machine_config.z_axis._motor_wheelbase=m_pEF8000_Interface->Image_Info.m_Motor_Dz;
    m_pSO7_Proto->g_machine._motor_pulse_num= m_pEF8000_Interface->Image_Info.m_Motor_Plus_Num;
  }
  if (rStatus)
  {
    return SSI_STATUS_MOTION_NORMAL;
  } 
  else
  {
    return SSI_STATUS_MOTOR_DAT_FILE_NOT_FOUND;
  }
}