#pragma once
#ifndef _INCLUDE_CARDSRV_GUGAO_H
#define _INCLUDE_CARDSRV_GUGAO_H
#include "sysapi.h"
#include "dtype.h"

#define MAXCARD         8   //最多8张卡
#define MAXCRD          2   //每张卡最多2个坐标系
#define MAXAXIS         8
#define MAXIO           16
#define MAXAD           8

#define ins CardService::GetInstance()

class CCard;
class CardService
{
public:
    CardService(void);
    ~CardService(void);

    static CardService* GetInstance();
    static void ReleaseInstance();

    int Init() { return 0; }

    int OpenCard(ushort cardIndex);
    int CloseCard(ushort cardIndex);
    int GetStatus(ushort cardIndex);

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

    //获取当前位置
    int AxisGetPos(ushort cardIndex, ushort axisIndex, EMPosType postype, double* pval);
    //设置目标位置并运动
    int AxisSetPos(ushort cardIndex, ushort axisIndex, long pos);
    //dir 0 负方向 1 正方向
    int AxisMoveJog(ushort cardIndex, ushort axisIndex, int dir, double vel, double acc, double dec);
    int AxisMovePos(ushort cardIndex, ushort axisIndex, long pos, double vel, double acc, double dec);
    int AxisHome(ushort cardIndex, ushort axisIndex, ushort homeType, long pos, long offset, double vel);
    int AxisMoveOffset(ushort cardIndex, ushort axisIndex, long offset, double vel, double acc, double dec);

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

    //AD接口
    int ReadAdc(ushort cardIndex, ushort index, double* pVal);
    int WriteAdc(ushort cardIndex, ushort index, double Val);

    //插补运动
    int CreateCrd(ushort cardIndex, ushort *pAxisIndex, ushort axisCnt);
    int CloseCrd(int crdID);
    int AddLinePos(int crdID, double *ppos, ushort nsize, double vel, double acc, double endvel);
    int AddArcPos(int crdID, double *ppos1, double *ppos2, double *ppos3, ushort nsize, double vel, double acc, double endvel);
    int CrdStartMove(int crdID);
    int CrdStatus(int crdID, int *progress);

    //命令行 接口
    int SendCustomCommand(ushort cardIndex, const char* cmd, char* lpMsg);
    int RecvCustomCommand(ushort cardIndex, const char* msg, char* res, int timeout);
    int GetCommandDesc(char* pszcmddesc);

protected:

    //从crdID转化成index
    int ConvertcrdIndex(ushort& cardIndex, int crd)  { cardIndex = (ushort)crd / MAXCRD; return crd % MAXCRD; }

private:

    static CardService *m_pInstance;

    CCard*  m_pCard[MAXCARD];   //控制卡
};

#endif  //防止重复包含