///////////////////////////////////////////////////////////////////////////////
//
// HAL_MicroVu.cpp
//
// Copyrights 2004, Wilcox Associates, Inc.
//
///////////////////////////////////////////////////////////////////////////////

#include "StdAfx.h"

#include "settings.h"

#include "HAL.h"
#include "HSI.h"

extern CHAL          *g_pHSI;
extern CHALMicroVuExt g_HSIExt;
extern bool g_bOfflineOnly;

//////////////////////////////////////////////////////////////////////////////
// Registry entry definitions
//

#define SECTION_HEADER	_T("MicroVu")
TCHAR SectionHeader[] = SECTION_HEADER;

INI_INTERFACE_INFO ini_vertex_dcc[] =
{
  // Settle times
#pragma message("these settle times are not supported in code")
  {_T("Illumination_SettleTime"),   INI_DOUBLE,  &g_HSIExt.m_IllumSettleTime,          _T("0.05"),    NOFUNCTION, ADMINISTRATOR, ENABLED, ENABLED },
  {_T("Stage_SettleTime"),          INI_DOUBLE,  &g_HSIExt.m_StageSettleTime,          _T("0.1"),    NOFUNCTION, ADMINISTRATOR, ENABLED, ENABLED },
  {_T("Zoom_SettleTime"),           INI_DOUBLE,  &g_HSIExt.m_ZoomSettleTime,           _T("0.1"),    NOFUNCTION, ADMINISTRATOR, ENABLED, ENABLED },
  {_T("ScaleResolutionX"),          INI_DOUBLE,  &g_HSIExt.m_ScaleResolutionX,  _T("0.0005"), NOFUNCTION, ADMINISTRATOR, ENABLED, ENABLED },
  {_T("ScaleResolutionY"),          INI_DOUBLE,  &g_HSIExt.m_ScaleResolutionY,  _T("0.0005"), NOFUNCTION, ADMINISTRATOR, ENABLED, ENABLED },
  {_T("ScaleResolutionZ"),          INI_DOUBLE,  &g_HSIExt.m_ScaleResolutionZ,  _T("0.0005"), NOFUNCTION, ADMINISTRATOR, ENABLED, ENABLED },

  // Probe
//  {_T("Probe_DebounceTime"),        INI_DOUBLE,  &g_HSIExt.m_ProbeDebounceTime,        _T("0.05"),   NOFUNCTION, ADMINISTRATOR, ENABLED, ENABLED },
//  {_T("Probe_DirectionThreshold"),  INI_DOUBLE,  &g_HSIExt.m_ProbeDirectionThreshold,  _T("0.01"),   NOFUNCTION, ADMINISTRATOR, ENABLED, ENABLED },
  {_T("Probe_DisableIfNotActive"),  INI_BOOL,    &g_HSIExt.m_ProbeDisableIfNotActive,  _T("TRUE"),   NOFUNCTION, ADMINISTRATOR, ENABLED, ENABLED },
//  {_T("Probe_UsePI200"),            INI_BOOL,    &g_HSIExt.m_ProbeUsePI200,            _T("FALSE"),  NOFUNCTION, ADMINISTRATOR, ENABLED, ENABLED },

  {NULL,                            INI_END,     NULL, NULL}
};




//////////////////////////////////////////////////////////////////////////////
//
CHALMicroVuExt::CHALMicroVuExt()
{
  unsigned short Axis = 0;

  m_bIsInitialised = false;
  m_bIsHomingRequired = true;
  m_bExtBoardPresent = false;

  g_bOfflineOnly = false;

  m_HomingAxis = HAL_AXIS_NONE;

  m_FineSpeedMode = false;
  m_ControlMode = HAL_CTRL_MODE_CNC;

  m_ActiveMachineType = HAL_MACHINE_TYPE_UNSELECTED;

  m_IsCalibrated = false;
  m_InhibitActiveHigh = false;

  m_ActiveProbe = APT_VISION;

  m_HomeManual = false;
  m_HomeToLimitSwitch = false;
  m_HomeToResetLine = false;
  m_HomeSpeedRestrict = true;

  m_DSPLoopTime = 0;

  m_CurrentSpeedXYZ = 0.0;
  m_CurrentSpeedR = 0.0;

  m_DCCMoveInProgress = false;
  m_InitInProgress = false;

  m_IllumSettleTime = 0.0;
  m_StageSettleTime = 0.0;
  m_ZoomSettleTime = 0.0;

  m_LaserPositionalActiveHigh = true;
  m_LaserState = false;
  m_LaserPositionalOutput = HAL_OUTPUT_NONE;

  m_OptimetInit = false;
  m_OptimetZFollow = false;
  m_OptimetNomDist = 0.0;
  m_OptimetScanDensity = 0.0;
  m_OptimetGain = 20;
  m_OptimetFreq = 800;
  m_OptimetQualityThreshold = 70;
  m_OptimetScanQuality = 0;
  m_OptimetMag = HAL_LP_AUX_LENS_1_0x;

  m_OpticsGridActiveHigh = true;
  m_OpticsGridState = false;
  m_OpticsGridOutput = HAL_OUTPUT_NONE;

  for(Axis = HAL_AXIS_X ; Axis <= HAL_AXIS_Q ; Axis++)
  {
    m_ProbePoint[Axis] = 0;
    m_ProbeDiff[Axis] = 0.0;
  }

  m_ProbeDCCRetractDist = 0.0;
  m_ProbeManRetractDist = 0.0;
  m_ProbeHitExpected = false;
  m_ProbeDisableIfNotActive = true;
  m_ProbeEnabled = false;
  m_ProbeLoading = false;

  m_LampUsePrototypeRing = false;

  memset(m_LampOutputState_5x8, 0, sizeof(m_LampOutputState_5x8));
  memset(m_LampOutputState_2x8, 0, sizeof(m_LampOutputState_2x8));
  memset(m_LampOutputLevel_5x8, 0, sizeof(m_LampOutputLevel_5x8));
  memset(m_LampOutputLevel_2x8, 0, sizeof(m_LampOutputLevel_2x8));

  for(Axis = HAL_AXIS_X ; Axis <= HAL_AXIS_ZOOM ; Axis++)
  {
    m_AxisEnabled[Axis] = false;
    m_AxisVelocity[Axis] = 0.0;
    m_AxisAcceleration[Axis] = 0.0;
    m_AxisResolution[Axis] = 0.001;
  }

  m_Pendant_IsInitialised = false;
  m_Pendant_EStopInhibitsAmp = true;
  m_Pendant_FineSpeedFactor = 1.0;

  m_Pendant_Input_EStop = -1;
  m_Pendant_Status_FineMode = HAL_OUTPUT_NONE;
  m_Pendant_Status_CtrlDCC = HAL_OUTPUT_NONE;
  m_Pendant_Status_CtrlTopLight = HAL_OUTPUT_NONE;
  m_Pendant_Status_CtrlRngLight = HAL_OUTPUT_NONE;
  m_Pendant_Status_CtrlBtmLight = HAL_OUTPUT_NONE;

  for(Axis = HAL_AXIS_X ; Axis <= HAL_AXIS_Q ; Axis++)
  {
    m_Pendant_Enabled[Axis] = false;
  }

  g_lpfnWAIOpticsStartup				= NULL;
  g_lpfnWALOpticsShutdown				= NULL;
}
//////////////////////////////////////////////////////////////////////
CHALMicroVuExt::~CHALMicroVuExt()
{}

//////////////////////////////////////////////////////////////////////////////
//
HAL_STATUS CHALMicroVuExt::InitialiseMachineType(HAL_MACHINE_TYPE Type)
{
  HAL_STATUS Status = HAL_STATUS_NORMAL;

  // Set the active machine type and extra machine specific data
  m_ActiveMachineType=Type;

   switch(Type)
  {
  case HAL_MACHINE_TYPE_EXCEL:
    m_AxisEnabled[HAL_AXIS_X] = true;
    m_AxisResolution[HAL_AXIS_X] = -0.00005;
    m_AxisEnabled[HAL_AXIS_Y] = true;
    m_AxisResolution[HAL_AXIS_Y] = 0.00005;
    m_AxisEnabled[HAL_AXIS_Z] = true;
    m_AxisResolution[HAL_AXIS_Z] = -0.00005;

    // Q axis settings
    m_AxisEnabled[HAL_AXIS_Q] = false;

    // Zoom axis settings
    m_AxisEnabled[HAL_AXIS_ZOOM] = true;
    m_AxisVelocity[HAL_AXIS_ZOOM] = 6.0;
    m_AxisAcceleration[HAL_AXIS_ZOOM] = 45.0;
    m_AxisResolution[HAL_AXIS_ZOOM] = -0.001;
    break;

  case HAL_MACHINE_TYPE_VECTRA:
    // Read machine data from CNC.INI
    if(Status != HAL_STATUS_NORMAL)
    {
      if(!g_bOfflineOnly)
        return Status;
      else
        return HAL_STATUS_NORMAL;
    }

    // Global settings
    m_InhibitActiveHigh = true;

    // Homing settings
    m_HomeManual = false;
    m_HomeToLimitSwitch = false;
    m_HomeToResetLine = true;

    // Positional laser settings
    m_LaserPositionalActiveHigh = true;
    m_LaserPositionalOutput = HAL_OUTPUT_EXTIO_2;

    // X axis settings
    m_AxisEnabled[HAL_AXIS_X] = true;

    // Y axis settings
    m_AxisEnabled[HAL_AXIS_Y] = true;

    // Z axis settings
    m_AxisEnabled[HAL_AXIS_Z] = true;

    // Q axis settings
    m_AxisEnabled[HAL_AXIS_Q] = m_Pendant_Enabled[HAL_AXIS_Q];

    // Zoom axis settings
    m_AxisEnabled[HAL_AXIS_ZOOM] = true;
    m_Pendant_Input_EStop = 3;

#pragma message("removed for lining ease")

    // Check the pendant fine speed factor is valid
    if(m_Pendant_FineSpeedFactor < 0.01 || m_Pendant_FineSpeedFactor > 1.0)
      m_Pendant_FineSpeedFactor = 1.0;
    break;

  case HAL_MACHINE_TYPE_CUSTOM:
    if(Status != HAL_STATUS_NORMAL)
    {
      if(!g_bOfflineOnly)
        return Status;
      else
        return HAL_STATUS_NORMAL;
    }

    // Check the pendant fine speed factor is valid
    if(m_Pendant_FineSpeedFactor < 0.01 || m_Pendant_FineSpeedFactor > 1.0)
      m_Pendant_FineSpeedFactor = 1.0;

    break;

  case HAL_MACHINE_TYPE_UNSELECTED:
  default:
    // Machine type has not been selected
    break;

  }

  return Status;
}

HAL_STATUS CHALMicroVuExt::ReadConfigFile()
{
  return HAL_STATUS_NORMAL;
}