#pragma once
#ifndef _INCLUDE_MOTOR_GUGAO_AXIS_H
#define _INCLUDE_MOTOR_GUGAO_AXIS_H
#include "CardService.h"

enum EHomeType
{//回原方式
    EHOME_CAPTURE = 0,  //硬件捕获回原
    EHOME_ECAPTURE,     //伺服捕获回原
    EHOME_NORMAL,       //普通回原
    EHOME_EINDEX,       //INDEX捕获回原
};

class CAxis
{
public:
    CAxis(ushort cardIndex, ushort axisIndex);
    ~CAxis();

    void SetArrive(bool bcheck) { m_bCheckArrive = bcheck; }

    int Init();
    int On();
    int Off();
    int Reset();
    int Home(ushort homeType, long pos, long offset, double vel);    //回原
    int SetZeroPos();           //清除位置信息;(清零规划位置和实际位置,设置机械原点)
    int SetSpeed(double vel, int bchange = 0);      //设置单轴速度
    int SetPos(long pos);   //设置目标位置并运动
    int MovePos(long pos, double vel, double acc, double dec);          //移动到指定位置,运动中可更换指令
    int MoveOffset(long offset, double vel, double acc, double dec);    //移动相对位置
    int MoveJog(int dir, double vel, double acc, double dec);           //连续移动

    double GetCurPos(EMPosType postype);  //获取当前位置

    int IsMoving();

    int Stop(int type = 0);        //停止运动, 包括回原

    ushort GetCardIndex() { return m_cardIndex; }
    ushort GetAxisIndex() { return m_axisIndex; }

    int GearMove(CAxis* pAxis, int iGearType, double ratio, long masterSlope = 0);

protected:

    void StopAndWait(int type = 0); //停止并等待停稳
    int StopMove(int type = 0);     //停止运动

    int homeSts(ushort *pStatus);   //获取回原点状态
    int ClearStatus();          // 清除轴状态
    int isRealMoving();         //判断实际是否在运动中
    int HomeAsCapture(long homePos, long offset, double vel, int type = 0); //捕获回原
    int HomeAsIndex(long homePos, long offset, long doffset);
    int HomeAsNormal(long homePos, long offset, double vel);    //正常回原

    bool WaitExitMoveSign(int iWait);   //等待运动退出信号，若返回true，则说明有退出信号

private:

    Handle  m_hQuitEvt;         //退出回原句柄
    Handle  m_hHomeFinishedEvt; //回原函数退出事件
    bool    m_bInit;            //是否使能
    bool    m_bCheckArrive;     //是否检测到位信号

    ushort  m_cardIndex;
    ushort  m_axisIndex;
};


#endif  //防止重复包含