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#pragma once
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#include "axis.h"
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enum EM_CRDID
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{//坐标ID，每个卡只能有2个
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EM_CRD_FST = 1,
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EM_CRD_SEC,
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};
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struct CrdData;
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struct TCrd
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{//坐标系数据
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bool buse; //是否使用中
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char crd; //坐标系ID
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ushort axisCnt;
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ushort axisIndex[MAXAXIS];
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CrdData *pCrdData;
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};
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enum EM_ARC_TYPE
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{//圆弧插补类型
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EM_ARC_XY = 0, //xy 平面圆弧
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EM_ARC_YZ,
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EM_ARC_ZX,
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};
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class CCard
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{
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public:
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CCard(ushort cardIndex);
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virtual ~CCard();
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int Open();
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int Close();
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int Reset();
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//单轴点位运动
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int AxisReset(ushort axisIndex);
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int AxisZeroPos(ushort axisIndex); //单轴清零位置
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int AxisIsMoving(ushort axisIndex); //1运动中 0就绪
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int AxisStop(ushort axisIndex, int stopType);
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int AxisSetSpeed(ushort axisIndex, double vel);
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int AxisSetPos(ushort axisIndex, long pos);
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int AxisGetPos(ushort axisIndex, EMPosType postype, double* pval);
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//dir 0 负方向 1 正方向
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int AxisMoveJog(ushort axisIndex, int dir, double vel, double acc, double dec);
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int AxisMovePos(ushort axisIndex, long pos, double vel, double acc, double dec);
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int AxisHome(ushort axisIndex, ushort homeType, long pos, long offset, double vel);
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int AxisMoveOffset(ushort axisIndex, long offset, double vel, double acc, double dec);
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//IO操作
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int ReadBit(ushort in_index, EIOType di_type);
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int ReadOutBit(ushort out_index, EIOType do_type);
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int WriteOutBit(ushort out_index, ushort val, EIOType do_type);
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//AD
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int ReadADC(ushort index, double* pval);
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int WriteADC(ushort index, double val);
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//插补运动
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int CreateCrd(ushort *pAxisIndex, ushort nsize, int& crd); //成功返回坐标系ID 失败返回-1
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int CloseCrd(int index);
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int AddLinePos(int index, double *ppos, double vel, double acc, double dec);
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int AddArcPos(int index, double *ppos1, double *ppos2, double *ppos3, double vel, double acc, double dec);
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int CrdStartMove(int index);
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int CrdStatus(int index, int *progress);
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//命令行 接口
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int SendCustomCommand(const char* msg, char* res/* = 0*/);
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int RecvCustomCommand(const char* msg, char* res/* = 0*/, int timeout/* = 0*/);
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int ComparePos(ushort axisCnt, short time, long *pBuf1, short count1, long *pBuf2, short count2);
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bool _bOpened; //是否已经打开
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ushort _cardIndex; //卡索引
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CAxis* _pAxis[MAXAXIS]; //轴数组类指针
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protected:
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void CloseAllAxis(); //关闭所有轴
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int GetExistCrd(); //获取空闲坐标系索引
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int SetCrd(TCrd& crdData); //设置坐标系参数并创建
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//IO
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int ReadIn(EIOType di_type, long& val);
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int ReadOut(EIOType do_type, long& val);
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bool IsSamePos(long* pos1, long* pos2, int axisCnt); //判断两个位置是否一样
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bool IsSameLine(long* pos1, long* pos2, long* pos3); //判断三点是否共线
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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
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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
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bool CalcDir(long *pos1, long* pos2, long* pos3); //判断一段圆弧方向，true 顺时针 false 逆时针
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short TransfIOType(short di_type); //把io读取/写入类型转换成固高卡的IO类型
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int ParseGearMove(char* param);
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//电子齿轮运动，主轴自己设置，这里只设置从轴运动
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//masterAxis 主轴索引
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//slaveAxis 从轴索引
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//iGearType 传动模式 参考 EM_GEAR_TYPE
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//ratio 传动比 主轴位移/从轴位移 比例
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//masterSlope 缓冲区 从轴到达传动比时主轴的位移量
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int GearMove(ushort masterAxis, ushort slaveAxis,
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int iGearType, double ratio, long masterSlope = 0);
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int SetBacklash(char* param); //设置反向间隙补偿
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int SetArrive(char* param); //设置到位信号
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int SetAD(char* param); //设置电压值
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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
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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）
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int StartCompare(short chn, short mode, int count, long *px, long *py);
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private:
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TCrd _crd[MAXCRD]; //最多2个坐标系
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};
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