// TestDll.cpp : 定义控制台应用程序的入口点。
//

#include "stdafx.h"
#include <conio.h>
#include "..\MachineInterfaceDll\MachineInterfaceDll.h"
void ShowMessage(SSI_STATUS_MOTION status);

int _tmain(int argc, _TCHAR* argv[])
{
  SSI_STATUS_MOTION status=Machine_Startup(false,HOME_NONE);
  printf("Machine_Startup:");
  ShowMessage(status);
  printf("Test Module[1-4]:");
  printf("\n");
  printf("1. Motion\n");
  printf("2. Illumination\n");
  printf("3. IO\n");
  printf("4. ALL\n");
  LONG TestModule(0);
  printf("Please Select Test Module[1-4]:");
  scanf_s("%d", &TestModule);

  //=================================================================================
  //===============================Motion============================================
  if (TestModule==1 || TestModule==4)
  {
    bool bHomed(false);
    status=Motion_IsHomedXYZ(bHomed);
    printf("Motion_IsHomedXYZ:");
    ShowMessage(status);
    if (!bHomed)
    {
      status=Motion_DCCHomeXYZ(HOME_XYZ);
      printf("Motion_IsHomedXYZ:");
      ShowMessage(status);
      do 
      {
        Sleep(20);
        status=Motion_IsHomedXYZ(bHomed);
        printf("Motion_IsHomedXYZ:");
        ShowMessage(status);
      } while (!bHomed);
    } 
    status=Motion_Jog(MACHINE_AXIS_X,4);
    printf("Motion_Jog:");
    ShowMessage(status);
    printf("Press any key to stop...\r\n");
    _getch();
    status=Motion_Stop();
    printf("Motion_Stop:");
    ShowMessage(status);

    status=Motion_Jog(MACHINE_AXIS_Y,4);
    printf("Motion_Jog:");
    ShowMessage(status);
    printf("Press any key to stop...\r\n");
    _getch();
    status=Motion_Stop();
    printf("Motion_Stop:");
    ShowMessage(status);

    status=Motion_Jog(MACHINE_AXIS_Z,-3);
    printf("Motion_Jog:");
    ShowMessage(status);
    Sleep(3000);
    status=Motion_Stop();
    printf("Motion_Stop:");
    ShowMessage(status);

    double PositionX,PositionY,PositionZ;
    status=Motion_GetPositionXYZ(PositionX,PositionY,PositionZ);
    printf("Motion_GetPositionXYZ:%.4f,%.4f.%.4f;\r\n",PositionX,PositionY,PositionZ);
    int iMoveTo(0);
    do 
    {
      printf("Please input X MoveToPos:");
      scanf_s("%f", &PositionX);   
      printf("Please input Y MoveToPos:");
      scanf_s("%d", &PositionY);
      printf("Please input Z MoveToPos:");
      scanf_s("%d", &PositionZ);

      printf("Motion_SetPositionXYZ:%.4f,%.4f.%.4f;\r\n",PositionX,PositionY,PositionZ);
      status=Motion_SetPositionXYZ(PositionX,PositionY,PositionZ,true);

      status=Motion_GetPositionXYZ(PositionX,PositionY,PositionZ);
      printf("Motion_GetPositionXYZ:%.4f,%.4f.%.4f;\r\n",PositionY,PositionX,PositionZ);


      printf("Test again?Y:1;N:0");
      scanf_s("%d", &iMoveTo);
    } while (iMoveTo>=1);
/*
    status=Motion_SetSpeedXYZ(MACHINE_AXIS_X,3,20,20,20,3,0.01);
    printf("Motion_SetSpeedXYZ:");
    ShowMessage(status);
    status=Motion_Jog(MACHINE_AXIS_X,3);
    printf("Motion_Jog:");
    ShowMessage(status);
    Sleep(3000);
    status=Motion_Stop();
    printf("Motion_Stop:");
    ShowMessage(status);
    */
    //===================================Rotary Table==================================
    //Motion_DCCHomeR();
    //Motion_IsHomedR(bool &bHomed);
    ////Units:Rad
    //Motion_GetPositionR(double& dPos);
    //Motion_SetPositionR(double dAbsolutePos,bool bWait);
    //Motion_IsFinishedR(bool &bFinished);
  }
  if (TestModule==2 || TestModule==4)
  {
    //==============================Illumination=======================================
    //Range value:0.0-100.0
    status=Illumination_SetLampState(0,100,0,0,0,0,0);
    printf("Illumination_SetLampState:");
    ShowMessage(status);
    Sleep(1000);
    status=Illumination_SetLampState(100,0,0,0,0,0,0);
    printf("Illumination_SetLampState:");
    ShowMessage(status);
    Sleep(1000);
    status=Illumination_SetLampState(100,100,0,0,0,0,0);
    printf("Illumination_SetLampState:");
    ShowMessage(status);
    Sleep(1000);
  }
  //==============================IO================================================
  if (TestModule==3 || TestModule==4)
  {
    BYTE bDISts(0);
    bDISts=0;
    status=Machine_GetDIO(INPORT_J2,bDISts);
    printf("Machine_GetDIO:[INPORT_J2] 0X%02X.--",bDISts);
    ShowMessage(status);

    bDISts=0;
    status=Machine_GetDIO(LIMIT_SWITCH_J4,bDISts);
    printf("Machine_GetDIO:[LIMIT_SWITCH_J4] 0X%02X.--",bDISts);
    ShowMessage(status);
    printf("Get limit switch status again. Press any key...\r\n");
    _getch();
    bDISts=0;
    status=Machine_GetDIO(LIMIT_SWITCH_J4,bDISts);
    printf("Machine_GetDIO:[LIMIT_SWITCH_J4] 0X%02X.--",bDISts);
    ShowMessage(status);

    bDISts=0;
    status=Machine_SetDO(OUTPORT_J1,bDISts);
    printf("Machine_SetDO:[OUTPORT_J1] 0X00.--");
    ShowMessage(status);
    bDISts=0;
    status=Machine_GetDIO(OUTPORT_J1,bDISts);
    printf("Machine_GetDIO:[OUTPORT_J1] 0X%02X.--",bDISts);
    ShowMessage(status);
    bDISts=255;
    status=Machine_SetDO(OUTPORT_J1,bDISts);
    printf("Machine_SetDO:[OUTPORT_J1] 0XFF.--");
    ShowMessage(status);
    bDISts=0;
    status=Machine_GetDIO(OUTPORT_J1,bDISts);
    printf("Machine_GetDIO:[OUTPORT_J1] 0X%02X.--",bDISts);
    ShowMessage(status);


    bDISts=0;
    status=Machine_SetDO(OUTPORT_J3,bDISts);
    printf("Machine_SetDO:[OUTPORT_J3] 0X00.--");
    ShowMessage(status);
    bDISts=0;
    status=Machine_GetDIO(OUTPORT_J3,bDISts);
    printf("Machine_GetDIO:[OUTPORT_J3] 0X%02X.--",bDISts);
    ShowMessage(status);
    bDISts=255;
    status=Machine_SetDO(OUTPORT_J3,bDISts);
    printf("Machine_SetDO:[OUTPORT_J3] 0XFF.--");
    ShowMessage(status);
    bDISts=0;
    status=Machine_GetDIO(OUTPORT_J3,bDISts);
    printf("Machine_GetDIO:[OUTPORT_J3] 0X%02X.--",bDISts);
    ShowMessage(status);
  }
  //==============================CMD================================================
  //SEND_SYS_COMMAND(char Cmd,char SubCmd,char Type,char Data);
  status=Machine_Shutdown();
  printf("Machine_Shutdown:");
  ShowMessage(status);
  printf("Press any key to exit\r\n");
  _getch();
  return 0;
}
void ShowMessage(SSI_STATUS_MOTION status)
{
  switch(status)
  {
  case SSI_STATUS_MOTION_NORMAL:
    {
      printf("SSI_STATUS_MOTION_NORMAL.\r\n");
      break;
    }
  case SSI_STATUS_MOTION_DATALINK_ERROR:
    {
      printf("SSI_STATUS_MOTION_DATALINK_ERROR.\r\n");
      break;
    }
  case SSI_STATUS_MOTION_LIMIT_REACHED:
    {
      printf("SSI_STATUS_MOTION_LIMIT_REACHED.\r\n");
      break;
    }
  case SSI_STATUS_MOTION_INVALID_PARAMETERS:
    {
      printf("SSI_STATUS_MOTION_INVALID_PARAMETERS.\r\n");
      break;
    }
  case SSI_STATUS_MOTION_TIMEOUT:
    {
      printf("SSI_STATUS_MOTION_TIMEOUT.\r\n");
      break;
    }
  case SSI_STATUS_SO7_CONFIG_FILE_NOT_FOUND:
    {
      printf("SSI_STATUS_SO7_CONFIG_FILE_NOT_FOUND.\r\n");
      break;
    }
  case SSI_STATUS_MOTOR_DAT_FILE_NOT_FOUND:
    {
      printf("SSI_STATUS_MOTOR_DAT_FILE_NOT_FOUND.\r\n");
      break;
    }
  case SSI_STATUS_MACHINE_UNINITIALIZED:
    {
      printf("SSI_STATUS_MACHINE_UNINITIALIZED.\r\n");
      break;
    }
  case SSI_STATUS_UNKNOWN_ERROR:
    {
      printf("SSI_STATUS_UNKNOWN_ERROR.\r\n");
      break;
    }
  }
}