#pragma once
#include "axis.h"

enum EM_CRDID
{//坐标ID，每个卡只能有2个
    EM_CRD_FST = 1,
    EM_CRD_SEC,
};

struct CrdData;
struct TCrd
{//坐标系数据
    bool    buse;   //是否使用中
    char    crd;    //坐标系ID
    ushort  axisCnt;
    ushort  axisIndex[MAXAXIS];
    CrdData *pCrdData;
};

enum EM_ARC_TYPE
{//圆弧插补类型
    EM_ARC_XY = 0,  //xy 平面圆弧
    EM_ARC_YZ,
    EM_ARC_ZX,
};

class CCard 
{
public:
    CCard(ushort cardIndex);
    virtual ~CCard();

    int Open();
    int Close();
    int Reset();

    //单轴点位运动
    int AxisReset(ushort axisIndex);
    int AxisZeroPos(ushort axisIndex);   //单轴清零位置
    int AxisIsMoving(ushort axisIndex);   //1运动中 0就绪
    int AxisStop(ushort axisIndex, int stopType);
    int AxisSetSpeed(ushort axisIndex, double vel);

    int AxisSetPos(ushort axisIndex, long pos);
    int AxisGetPos(ushort axisIndex, EMPosType postype, double* pval);
    //dir 0 负方向 1 正方向
    int AxisMoveJog(ushort axisIndex, int dir, double vel, double acc, double dec);
    int AxisMovePos(ushort axisIndex, long pos, double vel, double acc, double dec);
    int AxisHome(ushort axisIndex, ushort homeType, long pos, long offset, double vel);
    int AxisMoveOffset(ushort axisIndex, long offset, double vel, double acc, double dec);

    //IO操作
    int ReadBit(ushort in_index, EIOType di_type);
    int ReadOutBit(ushort out_index, EIOType do_type);
    int WriteOutBit(ushort out_index, ushort val, EIOType do_type);

    //AD
    int ReadADC(ushort index, double* pval);
    int WriteADC(ushort index, double val);

    //插补运动
    int CreateCrd(ushort *pAxisIndex, ushort nsize, int& crd);  //成功返回坐标系ID 失败返回-1
    int CloseCrd(int index);
    int AddLinePos(int index, double *ppos, double vel, double acc, double dec);
    int AddArcPos(int index, double *ppos1, double *ppos2, double *ppos3, double vel, double acc, double dec);
    int CrdStartMove(int index);
    int CrdStatus(int index, int *progress);

    //命令行 接口
    int SendCustomCommand(const char* msg, char* res/* = 0*/);
    int RecvCustomCommand(const char* msg, char* res/* = 0*/, int timeout/* = 0*/);

    int ComparePos(ushort axisCnt, short time, long *pBuf1, short count1, long *pBuf2, short count2);

    bool            _bOpened;           //是否已经打开
    ushort          _cardIndex;         //卡索引
    CAxis*          _pAxis[MAXAXIS];    //轴数组类指针

protected:

    void CloseAllAxis();    //关闭所有轴

    int GetExistCrd();      //获取空闲坐标系索引
    int SetCrd(TCrd& crdData); //设置坐标系参数并创建

    //IO
    int ReadIn(EIOType di_type, long& val);
    int ReadOut(EIOType do_type, long& val);

    bool IsSamePos(long* pos1, long* pos2, int axisCnt); //判断两个位置是否一样
    bool IsSameLine(long* pos1, long* pos2, long* pos3); //判断三点是否共线
    int  CalcArcType(long* pos1, long* pos2, long* pos3, int axisCnt, int &arcType);  //通过位置计算圆弧插补类型 arcType EM_ARC_TYPE
    void CalcCenter(long* pos1, long* pos2, long* pos3, double &x, double &y, double&r); //3个点计算圆心，数组只取前两个
    bool CalcDir(long *pos1, long* pos2, long* pos3);   //判断一段圆弧方向，true 顺时针 false 逆时针

    short TransfIOType(short di_type);  //把io读取/写入类型转换成固高卡的IO类型

    int ParseGearMove(char* param);

    //电子齿轮运动，主轴自己设置，这里只设置从轴运动
    //masterAxis 主轴索引
    //slaveAxis 从轴索引
    //iGearType 传动模式 参考 EM_GEAR_TYPE
    //ratio 传动比 主轴位移/从轴位移 比例
    //masterSlope 缓冲区 从轴到达传动比时主轴的位移量
    int GearMove(ushort masterAxis, ushort slaveAxis, 
        int iGearType, double ratio, long masterSlope = 0);

    int SetBacklash(char* param); //设置反向间隙补偿
    int SetArrive(char* param);   //设置到位信号
    int SetAD(char* param);       //设置电压值
    int ParseCompare(char* param); //0，1高速IO口号；0，1一维/二维模式；0，1 set/start；个数/轴号
    int SetComparePrm(short chn, short mode, short encx, short ency);//0：高速IO口0  0：一维模式  0：设置位置比较参数，位置比较关联X轴（一维位置比较只能比Y轴，若想比较X轴，只能将其关联到Y轴上）
    int StartCompare(short chn, short mode, int count, long *px, long *py);

private:

    TCrd    _crd[MAXCRD];   //最多2个坐标系
};