#pragma once
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#include "MotorControlInfo.h"
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#include "CHThreadPools/TimerThreadPools.h"
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#include "MotionThread.h"
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#include <vector>
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typedef std::vector<long> VectorLong;
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typedef std::vector<long>::iterator VectorLongIt;
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typedef std::vector<int> VectorInteger;
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typedef std::vector<int>::iterator VectorIntegerIt;
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// typedef std::vector<double> VectorDouble;
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// typedef std::vector<double>::iterator VectorDoubleIt;
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class AFX_EXT_CLASS CMotorControl : public CTimerThreadPools, public IMotionThread2Parent
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{
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public:
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CMotorControl(int nIndex, DWORD dwPeriod=100,int nThreadCount = 1);
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virtual ~CMotorControl(void);
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void SetMC2P(IMotorControl2Parent* pMC2P) { m_pMC2P = pMC2P; }
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BOOL GetConnected() const { return m_bConnected; }
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const CMotorControlInfo* GetControlInfo() { return &m_ControlInfo; }
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virtual BOOL StartThread();
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virtual void StopThread();
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virtual void TimerThreadProcess(PVOID pParameter);
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public:
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// CMotorControl
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virtual int Connect(const CMotorControlInfo* pControlInfo) = 0;
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virtual void Disconnect() = 0;
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virtual BOOL ReadAddressValue(int nAddress, long &nValue) = 0;
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virtual BOOL WriteAddressValue(int nAddress, long nValue) = 0;
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virtual BOOL ReadAddressValue(int nAddress, float &fValue) = 0;
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virtual BOOL WriteAddressValue(int nAddress, float fValue) = 0;
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virtual BOOL ReadAddressValue(int nAddress, double &dValue) = 0;
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virtual BOOL WriteAddressValue(int nAddress, double dValue) = 0;
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protected:
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virtual BOOL ReadAddressValue(long nAddress, long *pArrayData, int nArrayCount) = 0;
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virtual BOOL WriteAddressValue(long nAddress, long *pArrayData, int nArrayCount) = 0;
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virtual BOOL ReadAddressValue(long nAddress, float *pArrayData, int nArrayCount) = 0;
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virtual BOOL WriteAddressValue(long nAddress, float *pArrayData, int nArrayCount) = 0;
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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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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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// review
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virtual BOOL GantryAutoGo(int nGantryIdx, const VectorDouble& vectorPosX, const VectorDouble& vectorPosY, BOOL bCommand=FALSE);
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//Wsi
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virtual BOOL GantryWsiAutoGo(int nGantryIdx, const VectorDouble& vectorPosX, const VectorDouble& vectorPosY, BOOL bCommand=FALSE);
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// get status
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virtual int GetStatus( int& nStatusCode, CString& strStatusMessage );
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public:
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// common
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BOOL CommonSetAfDelayTime(long nTime = 0);
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BOOL CommonSetImageDelayTime(long nTime = 0);
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BOOL CommonSetWsiDelayTime(long nTime = 0);
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BOOL CommonSetAutoGoAll();
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BOOL CommonSetAutoMeasureGoAll();
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BOOL CommonSetAutoWsiGoAll();
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void SetUseWsi(BOOL bUse) { m_bUseWsi = bUse; }
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// all axis
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BOOL AxisJogStop();
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BOOL AxisManualGoSpeed(double dSpeed);
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BOOL AxisJogSpeed(double dSpeed);
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BOOL AxisManualGoAccel(int nAccel);
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BOOL IsAxisMotionEnd();
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BOOL AxisManualGoEnd(int nAxisIdx, double dPosition);
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BOOL AxisManualGo(const VectorInteger& vectorAxis, const VectorDouble& vectorPosition);
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BOOL IsAxisMotionEnd(int nAxisIdx);
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// axis theta
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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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BOOL AxisThetaManualGoEnd(double dPosition);
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BOOL AxisThetaManualGoSpeed(double dSpeed);
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BOOL AxisThetaJogSpeed(double dSpeed);
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BOOL AxisThetaManualGoAccel(int nAccel);
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BOOL IsAxisThetaMotionEnd();
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// gantry
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BOOL GantryManualGoEnd(int nGantryIdx, const VectorDouble& vectorPos);
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BOOL GantryManualGoEnd(int nGantryIdx, const VectorDouble& vectorPos, int nMoveType);
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BOOL GantryManualGoEnd(int nGantryIdx, double dPosX, double dPosY);
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BOOL GantrySetCollisionPosition(int nGantryIdx, double dPosX, double dPosY,int nFirstIn=1);
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const int GetGantryCollisionXAddr(int nGantryIdx);
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BOOL GantrySetTwoGantrySyncModeSend(bool bUse);
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// review
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BOOL GantryAutoGo(int nGantryIdx);
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BOOL GantrySetMoveCount(int nGantryIdx, long nCount);
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BOOL GantryGetMoveCount(int nGantryIdx, long& nCount);
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BOOL GantryGetTriggerCount(int nGantryIdx, long& nCount);
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// measure
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BOOL GantryMeasureAutoGo(int nGantryIdx, const VectorDouble& vectorPosData, BOOL bCommand=FALSE);
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BOOL GantryMeasureAutoGo(int nGantryIdx);
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BOOL GantrySetMeasureMoveCount(int nGantryIdx, long nCount);
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BOOL GantryGetMeasureMoveCount(int nGantryIdx, long& nCount);
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BOOL GantryGetMeasureTriggerCount(int nGantryIdx, long& nCount);
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// wsi
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BOOL GantryWsiAutoGo(int nGantryIdx);
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BOOL GantrySetWsiMoveCount(int nGantryIdx, long nCount);
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BOOL GantryGetWsiMoveCount(int nGantryIdx, long& nCount);
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BOOL GantryGetWsiTriggerCount(int nGantryIdx, long& nCount);
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BOOL GantryWsiNextPosMove(int nGantryIdx, long nNextIdx);
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// Software Trigger Command
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BOOL SoftWareTriggerCmd(int nGantryIdx, long lCmd);
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// Command Ack
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BOOL AxisThetaManualGoAck(long &lAck);
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BOOL AxisThetaManualGoAck(long &lAck, DWORD nWaitTime);
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BOOL GantryManualGoAck(int nGantryIdx, long &lAck);
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BOOL GantryManualGoAck(int nGantryIdx, long &lAck, DWORD nWaitTime);
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BOOL GantryAutoGoAck(int nGantryIdx, long& lAck);
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BOOL GantryAutoGoAck(int nGantryIdx, long& lAck, DWORD nWaitTime);
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BOOL GantryMeasureAutoGoAck(int nGantryIdx, long &lAck);
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BOOL GantryMeasureAutoGoAck(int nGantryIdx, long &lAck, DWORD nWaitTime);
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BOOL GantryWsiAutoGoAck(int nGantryIdx, long &lAck);
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BOOL GantryWsiAutoGoAck(int nGantryIdx, long &lAck, DWORD nWaitTime);
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BOOL IsGantryMotionEnd(int nGantryIdx);
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BOOL IsMotionEnd();
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BOOL RemoveAllAutoGoCount(int nGantryIdx);
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BOOL GetAxisLimitPosition(int nAxisIdx, double& dPlusLimit, double& dMinusLimit);
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protected:
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virtual void Process_AxisMotionEnd(const CMotionData& motionData);
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virtual void Process_GantryMotionEnd(const CMotionData& motionData);
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virtual void Process_ThetaMotionEnd(const CMotionData& motionData);
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// axis
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int GetAxisGantryIndex(int nAxisIdx);
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int GetAxisPositionAddr(int nAxisIdx);
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int GetAxisStatusAddr(int nAxisIdx);
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int GetAxisGoPositionAddr(int nAxisIdx);
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int GetAxisGoPositionCommonAddr(int nAxisIdx);
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int GetAxisJogCommandAddr(int nAxisIdx);
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int GetAxisManualGoSpeedAddr(int nAxisIdx);
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int GetAxisManualGoAccelAddr(int nAxisIdx);
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int GetAxisJogSpeedAddr(int nAxisIdx);
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// theta axis
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int GetAxisThetaPositionAddr();
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int GetAxisThetaStatusAddr();
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int GetAxisThetaGoPositionAddr();
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int GetAxisThetaJogCommandAddr();
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int GetAxisThetaManualGoAddr();
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int GetAxisThetaManualGoAckAddr();
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int GetAxisThetaManualGoSpeedAddr();
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int GetAxisThetaManualGoAccelAddr();
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int GetAxisThetaJogSpeedAddr();
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int GetAxisThetaJogAccelAddr();
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// gantry
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int GetGantryAxisCount(int nGantryIdx);
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int GetGantryManualGoAddr(int nGantryIdx);
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int GetGantryManualGoAckAddr(int nGantryIdx);
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int GetGantryCollisionPositionXAddr(int nGantryIdx);
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int GetGantryCollisionPositionYAddr(int nGantryIdx);
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int GetGantryAutoGoAddr(int nGantryIdx);
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int GetGantryAutoGoAckAddr(int nGantryIdx);
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int GetGantryMoveCountAddr(int nGantryIdx);
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int GetGantryTriggerCountAddr(int nGantryIdx);
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int GetGantryMeasureAutoGoAddr(int nGantryIdx);
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int GetGantryMeasureAutoGoAckAddr(int nGantryIdx);
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int GetGantryMeasureMoveCountAddr(int nGantryIdx);
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int GetGantryMeasureTriggerCountAddr(int nGantryIdx);
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int GetGantryWsiAutoGoAddr(int nGantryIdx);
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int GetGantryWsiAutoGoAckAddr(int nGantryIdx);
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int GetGantryWsiMoveCountAddr(int nGantryIdx);
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int GetGantryWsiTriggerCountAddr(int nGantryIdx);
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int GetGantryWsiMotionEndAddr(int nGantryIdx);
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int GetGantryWsiNextPosMoveAddr(int nGantryIdx);
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// Software Trigger Address
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int GetSoftwareTriggerAddr(int nGantryIdx);
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int GetSoftwareTriggerCmdAddr(int nGantryIdx);
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int GetImageSnapCompleteAddr(int nGantryIdx);
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static BOOL TransformIP_CStringToDWORD(const CString& strServerIP, DWORD& dwServerIP);
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BOOL GetUseWsi() { return m_bUseWsi; }
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public:
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virtual void IMT2P_RunThreadProcess(const CMotionData& motionData);
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protected:
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protected:
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IMotorControl2Parent* m_pMC2P;
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CMotorControlInfo m_ControlInfo;
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CMotionThread* m_pMotionThread;
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protected:
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int m_nIndex;
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DWORD m_dwPeriod;
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BOOL m_bConnected;
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// var
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int m_nAxisCount;
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long *m_pAxisStatus;
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float *m_pAxisPosition;
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long *m_pAxisStatusPrev;
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float *m_pAxisPositionPrev;
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long *m_pAxisStatusAddr;
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long *m_pAxisPositionAddr;
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// axis theta
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long m_axisThetaStatus;
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long m_axisThetaStatusPrev;
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float m_axisThetaPosition;
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float m_axisThetaPositionPrev;
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// review enable
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long m_nAutoEnable;
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long m_nAutoEnablePrev;
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/*< LYW 20220704 - #4220 ADD Start >*/
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long m_nMotorAlive;
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long m_nMotorAlivePrev;
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DWORD dwLastAliveTick;
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/*< LYW 20220704 - #4220 ADD End >*/
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// wsi signal
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long m_nWsiMotionEndPrev;
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BOOL m_bUseWsi;
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bool m_nWsiMotionEndPrev2;
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};
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