#pragma once
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#include "MotionInfo_Axis.h"
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enum MotionInfo_AxisType { AxisType_X=0, AxisType_Y, AxisType_Count };
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typedef std::vector<double> VectorDouble;
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typedef std::vector<double>::iterator VectorDoubleIt;
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typedef std::vector<double>::const_iterator constVectorDoubleIt;
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typedef std::vector<BOOL> VectorBOOL;
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typedef std::vector<BOOL>::iterator VectorBOOLIt;
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typedef std::vector<BOOL>::const_iterator constVectorBOOLIt;
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class AFX_EXT_CLASS CMotionInfo_Gantry
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{
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public:
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CMotionInfo_Gantry(int nIndex=0);
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virtual ~CMotionInfo_Gantry(void);
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// getter
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int GetIndex() const;
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double GetVelocity(int nAxisType) const;
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double GetAccelTime(int nAxisType) const;
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double GetDecelTime(int nAxisType) const;
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double GetStartPos(int nAxisType) const;
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double GetEndPos(int nAxisType) const;
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// current
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double GetCurVelocity(int& nAxisType) const;
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double GetCurAccelTime(int& nAxisType) const;
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double GetCurDecelTime(int& nAxisType) const;
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double GetCurFixTime(int& nAxisType) const;
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double GetCurTotalTime(int& nAxisType) const;
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double GetCurAccelDist(int& nAxisType) const;
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double GetCurDecelDist(int& nAxisType) const;
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double GetCurFixDist(int& nAxisType) const;
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double GetCurTotalDist(int& nAxisType) const;
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// current min
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double GetCurVelocity_Min(int& nAxisType) const;
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double GetCurAccelTime_Min(int& nAxisType) const;
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double GetCurDecelTime_Min(int& nAxisType) const;
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double GetCurFixTime_Min(int& nAxisType) const;
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double GetCurTotalTime_Min(int& nAxisType) const;
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double GetCurAccelDist_Min(int& nAxisType) const;
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double GetCurDecelDist_Min(int& nAxisType) const;
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double GetCurFixDist_Min(int& nAxisType) const;
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double GetCurTotalDist_Min(int& nAxisType) const;
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// current max
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double GetCurVelocity_Max(int& nAxisType) const;
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double GetCurAccelTime_Max(int& nAxisType) const;
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double GetCurDecelTime_Max(int& nAxisType) const;
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double GetCurFixTime_Max(int& nAxisType) const;
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double GetCurTotalTime_Max(int& nAxisType) const;
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double GetCurAccelDist_Max(int& nAxisType) const;
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double GetCurDecelDist_Max(int& nAxisType) const;
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double GetCurFixDist_Max(int& nAxisType) const;
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double GetCurTotalDist_Max(int& nAxisType) const;
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const CMotionInfo_Axis* GetMotionInfo_Axis(int nAxisType) const;
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CMotionInfo_Axis* GetMotionInfo_Axis(int nAxisType);
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int GetMotionInfo_AxisCount() const;
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// setter
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void SetVelocity(int nAxisType, double dVelocity);
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void SetAccelTime(int nAxisType, double dAccelTime);
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void SetDecelTime(int nAxisType, double dDecelTime);
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void SetStartPos(int nAxisType, double dStartPos);
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void SetEndPos(int nAxisType, double dEndPos);
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void SetData(int nAxisType, double dVelocity, double dAccelTime, double dDecelTime, double dStartPos, double dEndPos);
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// calculate
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int CalculateMotion(int nAxisType, double dTime, double& dPos, double& dVelocity, BOOL& bEnd);
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int CalculateMotion(double dTime, VectorDouble& vecPos, VectorDouble& vecVelocity, VectorBOOL& vecEnd);
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protected:
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int m_nIndex;
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double m_dCurVelocity;
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double m_dCurAccelTime;
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double m_dCurDecelTime;
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double m_dCurTotalTime;
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double m_dCurFixTime;
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double m_dCurAccelDist;
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double m_dCurDecelDist;
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double m_dCurFixDist;
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double m_dCurTotalDist;
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VectorMotionInfo_Axis m_vecMotionInfo;
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};
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typedef std::vector<CMotionInfo_Gantry> VectorMotionInfo_Gantry;
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typedef std::vector<CMotionInfo_Gantry>::iterator VectorMotionInfo_GantryIt;
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typedef std::vector<CMotionInfo_Gantry>::const_iterator constVectorMotionInfo_GantryIt;
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