#pragma once
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#include "motorcontrol.h"
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#include "MotionInfo_Axis.h"
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class AFX_EXT_CLASS CMotorControl_Simulation : public CMotorControl
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{
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public:
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CMotorControl_Simulation(int nIndex, DWORD dwPeriod=100,int nThreadCount = 1);
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virtual ~CMotorControl_Simulation(void);
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public:
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// CMotorControl
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virtual int Connect(const CMotorControlInfo* pControlInfo);
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virtual void Disconnect();
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virtual BOOL ReadAddressValue(int nAddress, long &nValue);
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virtual BOOL WriteAddressValue(int nAddress, long nValue);
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virtual BOOL ReadAddressValue(int nAddress, float &fValue);
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virtual BOOL WriteAddressValue(int nAddress, float fValue);
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virtual BOOL ReadAddressValue(int nAddress, double &dValue);
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virtual BOOL WriteAddressValue(int nAddress, double dValue);
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virtual void IMT2P_RunThreadProcess(const CMotionData& motionData);
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protected:
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virtual BOOL ReadAxisPosition(float *pAxisPos, int nAxisCount);
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virtual BOOL ReadAxisStatus(long *pAxisStatus, int nAxisCount);
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virtual BOOL ReadThetaAxisPosition( float& fAxisPos);
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virtual BOOL ReadThetaAxisStatus(long& nAxisStatus);
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virtual BOOL ReadAddressValue(long nAddress, long *pArrayData, int nArrayCount);
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virtual BOOL WriteAddressValue(long nAddress, long *pArrayData, int nArrayCount);
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virtual BOOL ReadAddressValue(long nAddress, float *pArrayData, int nArrayCount);
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virtual BOOL WriteAddressValue(long nAddress, float *pArrayData, int nArrayCount);
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public:
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// common
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virtual BOOL CommonSetAutoStop();
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// axis
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virtual BOOL AxisManualGo(int nAxisIdx, double dPosition);
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virtual BOOL AxisJogPlus(int nAxisIdx);
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virtual BOOL AxisJogMinus(int nAxisIdx);
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virtual BOOL AxisJogStop(int nAxisIdx);
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virtual BOOL AxisManualGoSpeed(int nAxisIdx, double dSpeed);
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virtual BOOL AxisJogSpeed(int nAxisIdx, double dSpeed);
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virtual BOOL AxisManualGoAccel(int nAxisIdx, int nAccel);
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// gantry
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virtual BOOL GantryManualGo(int nGantryIdx, const VectorDouble& vectorPos);
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virtual BOOL GantryManualGo(int nGantryIdx, const VectorDouble& vectorPos, int nMoveType);
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virtual BOOL GantryManualGo(int nGantryIdx, double dPosX, double dPosY);
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//Theta Motor
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virtual BOOL AxisThetaManualGo(double dPosition);
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virtual BOOL AxisThetaJogPlus();
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virtual BOOL AxisThetaJogMinus();
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virtual BOOL AxisThetaJogStop();
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// review
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virtual BOOL GantryAutoGo(int nGantryIdx, const VectorDouble& vectorPosX, const VectorDouble& vectorPosY, BOOL bCommand=FALSE);
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protected:
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virtual void Process_AxisManualGo(const CMotionData& motionData); // For Simulation Thread
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virtual void Process_JogGo(const CMotionData& motionData); // For Simulation Thread
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virtual void Process_GantryGo(const CMotionData& motionData); // For Simulation Thread
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virtual void Process_AutoGo(const CMotionData& motionData); // For Simulation Thread
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CMotionInfo_Axis* GetMotionInfo_Axis(int nAxisIndex);
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float* GetCurAxisPosition(int nAxisIndex);
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float* GetCurAxisVelocity(int nAxisIndex);
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long* GetCurAxisStatus(int nAxisIndex);
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protected:
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CMotionInfo_Axis *m_pMotionInfo_Axis;
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long *m_pCurAxisStatus;
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float *m_pCurAxisPosition;
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float *m_pCurAxisVelocity;
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CMotionInfo_Axis m_MotionInfo_ThetaAxis;
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long m_lCurThetaAxisStatus;
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float m_fCurThetaAxisPosition;
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float m_fCurThetaAxisVelocity;
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};
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