#include "StdAfx.h"
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#include "PathSchedulerData.h"
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CMotionParm::CMotionParm(void)
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{
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pMotionInfoX = NULL;
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pMotionInfoY = NULL;
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Reset();
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}
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CMotionParm::~CMotionParm(void)
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{
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Reset();
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}
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void CMotionParm::Reset()
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{
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nMoveType = Motion_MaxAxisTime;
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nCurveType = Curve_Line;
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dAutoFocusTime = 50.0; //ms
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dImageGrabTime = 1.0; //ms
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dMotionDelayTime = 40.0;
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if (pMotionInfoX!=NULL)
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{
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delete [] pMotionInfoX;
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}
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pMotionInfoX = NULL;
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nMotionInfoCountX = 0;
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if (pMotionInfoY!=NULL)
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{
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delete [] pMotionInfoY;
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}
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pMotionInfoY = NULL;
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nMotionInfoCountY = 0;
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}
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BOOL CMotionParm::LoadParm(const CString& strFilename, CMotionParm& scheduleParam)
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{
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FILE *fp = NULL;
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_tfopen_s(&fp, strFilename, _T("r"));
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if (fp==NULL) return FALSE;
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int nValue = 0;
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TCHAR strValue[200];
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double dValue = 0.0;
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_ftscanf_s(fp, _T("%s,"), strValue, 10);
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_ftscanf_s(fp, _T("%d\n"), &nValue);
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scheduleParam.SetMoveType(nValue);
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_ftscanf_s(fp, _T("%s,"), strValue, 11);
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_ftscanf_s(fp, _T("%d\n"), &nValue);
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scheduleParam.SetCurveType(nValue);
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_ftscanf_s(fp, _T("%s,"), strValue, 16);
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_ftscanf_s(fp, _T("%lf\n"), &dValue);
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scheduleParam.SetAutoFocusTime(dValue);
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_ftscanf_s(fp, _T("%s,"), strValue, 16);
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_ftscanf_s(fp, _T("%lf\n"), &dValue);
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scheduleParam.SetImageGrabTime(dValue);
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_ftscanf_s(fp, _T("%s,"), strValue, 18);
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_ftscanf_s(fp, _T("%lf\n"), &dValue);
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scheduleParam.SetMotionDelayTime(dValue);
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_ftscanf_s(fp, _T("%s,"), strValue, 20);
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_ftscanf_s(fp, _T("%d\n"), &nValue);
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scheduleParam.SetMotionInfoCountX(nValue);
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for (int i=0; i<nValue; i++)
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{
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SMotionInfo *pNode = scheduleParam.GetMotionInfoX(i);
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if (pNode==NULL) continue;
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_ftscanf_s(fp, _T("%lf,%lf,%lf,%lf,%lf,%lf\n"),
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&pNode->dDistanceStart,
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&pNode->dDistanceEnd,
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&pNode->dMoveSpeed,
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&pNode->dAccelTime,
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&pNode->dDecelTime,
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&pNode->dInpositionTime);
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dValue = pNode->dDistanceStart;
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dValue = pNode->dDistanceEnd;
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dValue = pNode->dMoveSpeed;
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dValue = pNode->dAccelTime;
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dValue = pNode->dDecelTime;
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dValue = pNode->dInpositionTime;
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}
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_ftscanf_s(fp, _T("%s,"), strValue, 20);
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_ftscanf_s(fp, _T("%d\n"), &nValue);
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scheduleParam.SetMotionInfoCountY(nValue);
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for (int i=0; i<nValue; i++)
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{
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SMotionInfo *pNode = scheduleParam.GetMotionInfoY(i);
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if (pNode==NULL) continue;
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_ftscanf_s(fp, _T("%lf,%lf,%lf,%lf,%lf,%lf\n"),
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&pNode->dDistanceStart,
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&pNode->dDistanceEnd,
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&pNode->dMoveSpeed,
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&pNode->dAccelTime,
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&pNode->dDecelTime,
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&pNode->dInpositionTime);
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dValue = pNode->dDistanceStart;
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dValue = pNode->dDistanceEnd;
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dValue = pNode->dMoveSpeed;
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dValue = pNode->dAccelTime;
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dValue = pNode->dDecelTime;
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dValue = pNode->dInpositionTime;
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}
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fclose(fp);
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return TRUE;
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}
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BOOL CMotionParm::SaveParm(const CString& strFilename, CMotionParm& scheduleParam)
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{
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FILE *fp = NULL;
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_tfopen_s(&fp, strFilename, _T("w"));
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if (fp==NULL) return FALSE;
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_ftprintf_s(fp, _T("MOVE_TYPE,%d\n"), scheduleParam.nMoveType);
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_ftprintf_s(fp, _T("CURVE_TYPE,%d\n"), scheduleParam.nCurveType);
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_ftprintf_s(fp, _T("AUTO_FOCUS_TIME,%lf\n"), scheduleParam.dAutoFocusTime);
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_ftprintf_s(fp, _T("IMAGE_GRAB_TIME,%lf\n"), scheduleParam.dImageGrabTime);
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_ftprintf_s(fp, _T("MOTION_DELAY_TIME,%lf\n"), scheduleParam.dMotionDelayTime);
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_ftprintf_s(fp, _T("MOTION_INFO_COUNT_X,%d\n"), scheduleParam.nMotionInfoCountX);
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for (int i=0; i<scheduleParam.nMotionInfoCountX; i++)
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{
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SMotionInfo *pNode = scheduleParam.GetMotionInfoX(i);
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if (pNode==NULL) continue;
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_ftprintf_s(fp, _T("%lf,%lf,%lf,%lf,%lf,%lf\n"),
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pNode->dDistanceStart,
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pNode->dDistanceEnd,
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pNode->dMoveSpeed,
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pNode->dAccelTime,
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pNode->dDecelTime,
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pNode->dInpositionTime);
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}
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_ftprintf_s(fp, _T("MOTION_INFO_COUNT_Y,%d\n"), scheduleParam.nMotionInfoCountY);
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for (int i=0; i<scheduleParam.nMotionInfoCountY; i++)
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{
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SMotionInfo *pNode = scheduleParam.GetMotionInfoY(i);
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if (pNode==NULL) continue;
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_ftprintf_s(fp, _T("%lf,%lf,%lf,%lf,%lf,%lf\n"),
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pNode->dDistanceStart,
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pNode->dDistanceEnd,
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pNode->dMoveSpeed,
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pNode->dAccelTime,
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pNode->dDecelTime,
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pNode->dInpositionTime);
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}
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fclose(fp);
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return TRUE;
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}
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CMotionParm::CMotionParm(const CMotionParm& rhs)
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{
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pMotionInfoX = NULL;
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pMotionInfoY = NULL;
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Reset();
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if (this != &rhs)
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{
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nMoveType = rhs.nMoveType;
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nCurveType = rhs.nMoveType;
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dAutoFocusTime = rhs.dAutoFocusTime;
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dImageGrabTime = rhs.dImageGrabTime;
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nMotionInfoCountX = rhs.nMotionInfoCountX;
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if (nMotionInfoCountX>0)
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{
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pMotionInfoX = new SMotionInfo[nMotionInfoCountX];
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memcpy(pMotionInfoX, rhs.pMotionInfoX, sizeof(SMotionInfo)*nMotionInfoCountX);
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}
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nMotionInfoCountY = rhs.nMotionInfoCountY;
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if (nMotionInfoCountY>0)
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{
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pMotionInfoY = new SMotionInfo[nMotionInfoCountY];
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memcpy(pMotionInfoY, rhs.pMotionInfoY, sizeof(SMotionInfo)*nMotionInfoCountY);
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}
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}
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}
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CMotionParm& CMotionParm::operator=(const CMotionParm& rhs)
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{
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if (this != &rhs)
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{
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Reset();
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nMoveType = rhs.nMoveType;
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nCurveType = rhs.nMoveType;
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dAutoFocusTime = rhs.dAutoFocusTime;
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dImageGrabTime = rhs.dImageGrabTime;
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dMotionDelayTime = rhs.dMotionDelayTime;
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nMotionInfoCountX = rhs.nMotionInfoCountX;
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if (nMotionInfoCountX>0)
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{
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pMotionInfoX = new SMotionInfo[nMotionInfoCountX];
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memcpy(pMotionInfoX, rhs.pMotionInfoX, sizeof(SMotionInfo)*nMotionInfoCountX);
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}
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nMotionInfoCountY = rhs.nMotionInfoCountY;
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if (nMotionInfoCountY>0)
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{
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pMotionInfoY = new SMotionInfo[nMotionInfoCountY];
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memcpy(pMotionInfoY, rhs.pMotionInfoY, sizeof(SMotionInfo)*nMotionInfoCountY);
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}
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}
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return *this;
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}
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CPathSchedulerParm::CPathSchedulerParm(void)
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{
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Reset();
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}
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CPathSchedulerParm::CPathSchedulerParm(const CPathSchedulerParm& rhs)
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{
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pMotionInfoX = NULL;
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pMotionInfoY = NULL;
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Reset();
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if (this != &rhs)
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{
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// motion info
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nMoveType = rhs.nMoveType;
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nCurveType = rhs.nMoveType;
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dAutoFocusTime = rhs.dAutoFocusTime;
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dImageGrabTime = rhs.dImageGrabTime;
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dMotionDelayTime = rhs.dMotionDelayTime;;
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nMotionInfoCountX = rhs.nMotionInfoCountX;
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if (nMotionInfoCountX>0)
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{
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pMotionInfoX = new SMotionInfo[nMotionInfoCountX];
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memcpy(pMotionInfoX, rhs.pMotionInfoX, sizeof(SMotionInfo)*nMotionInfoCountX);
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}
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nMotionInfoCountY = rhs.nMotionInfoCountY;
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if (nMotionInfoCountY>0)
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{
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pMotionInfoY = new SMotionInfo[nMotionInfoCountY];
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memcpy(pMotionInfoY, rhs.pMotionInfoY, sizeof(SMotionInfo)*nMotionInfoCountY);
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}
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//1)ÁÂÇ¥°è Á¤º¸
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bCenterCoord = rhs.bCenterCoord;
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nOriginDir = rhs.nOriginDir;
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nGlassSizeX = rhs.nGlassSizeX;
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nGlassSizeY = rhs.nGlassSizeY;
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nBaseModuleDir = rhs.nBaseModuleDir;
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//2)¸ðµâ/Ãæµ¹ Á¤º¸
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nModuleCount = rhs.nModuleCount;
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nCollisionDistX = rhs.nCollisionDistX;
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nCollisionDistY = rhs.nCollisionDistY;
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//3)ÇöóÀ× ¸®ºä
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nScanCount = rhs.nScanCount;
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nScanMargin = rhs.nScanMargin;
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sScanMotionInfo = rhs.sScanMotionInfo;
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sModuleMotionInfo = rhs.sModuleMotionInfo;
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//4)Ãà ¼ÒÆÃÁ¤º¸
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nSortAxisType = rhs.nSortAxisType;
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nSortOrderType = rhs.nSortOrderType;
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//5)·£´ý ÇöóÀÌ Á¤º¸
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dRandomScale = rhs.dRandomScale;
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}
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}
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CPathSchedulerParm& CPathSchedulerParm::operator=(const CPathSchedulerParm& rhs)
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{
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if (this != &rhs)
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{
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Reset();
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// motion info
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nMoveType = rhs.nMoveType;
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nCurveType = rhs.nMoveType;
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dAutoFocusTime = rhs.dAutoFocusTime;
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dImageGrabTime = rhs.dImageGrabTime;
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dMotionDelayTime = rhs.dMotionDelayTime;
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nMotionInfoCountX = rhs.nMotionInfoCountX;
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if (nMotionInfoCountX>0)
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{
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pMotionInfoX = new SMotionInfo[nMotionInfoCountX];
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memcpy(pMotionInfoX, rhs.pMotionInfoX, sizeof(SMotionInfo)*nMotionInfoCountX);
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}
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nMotionInfoCountY = rhs.nMotionInfoCountY;
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if (nMotionInfoCountY>0)
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{
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pMotionInfoY = new SMotionInfo[nMotionInfoCountY];
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memcpy(pMotionInfoY, rhs.pMotionInfoY, sizeof(SMotionInfo)*nMotionInfoCountY);
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}
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//1)ÁÂÇ¥°è Á¤º¸
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bCenterCoord = rhs.bCenterCoord;
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nOriginDir = rhs.nOriginDir;
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nGlassSizeX = rhs.nGlassSizeX;
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nGlassSizeY = rhs.nGlassSizeY;
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nBaseModuleDir = rhs.nBaseModuleDir;
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//2)¸ðµâ/Ãæµ¹ Á¤º¸
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nModuleCount = rhs.nModuleCount;
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nCollisionDistX = rhs.nCollisionDistX;
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nCollisionDistY = rhs.nCollisionDistY;
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//3)ÇöóÀ× ¸®ºä
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nScanCount = rhs.nScanCount;
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nScanMargin = rhs.nScanMargin;
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sScanMotionInfo = rhs.sScanMotionInfo;
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sModuleMotionInfo = rhs.sModuleMotionInfo;
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//4)Ãà ¼ÒÆÃÁ¤º¸
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nSortAxisType = rhs.nSortAxisType;
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nSortOrderType = rhs.nSortOrderType;
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//5)·£´ý ÇöóÀÌ Á¤º¸
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dRandomScale = rhs.dRandomScale;
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}
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return *this;
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}
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CPathSchedulerParm::~CPathSchedulerParm(void)
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{
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Reset();
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}
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BOOL CPathSchedulerParm::LoadParm(const CString& strFilename, CPathSchedulerParm& scheduleParam)
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{
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if (CMotionParm::LoadParm(strFilename, scheduleParam)==FALSE)
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{
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return FALSE;
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}
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return TRUE;
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}
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BOOL CPathSchedulerParm::SaveParm(const CString& strFilename, CPathSchedulerParm& scheduleParam)
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{
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if (CMotionParm::SaveParm(strFilename, scheduleParam)==FALSE)
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{
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return FALSE;
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}
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return TRUE;
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}
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SMotionInfo* CMotionParm::GetMotionInfoX(double dDistance)
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{
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for (int i=0; i<nMotionInfoCountX; i++)
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{
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if (dDistance>=pMotionInfoX[i].dDistanceStart && dDistance<=pMotionInfoX[i].dDistanceEnd)
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{
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return &pMotionInfoX[i];
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}
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}
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return NULL;
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}
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SMotionInfo* CMotionParm::GetMotionInfoY(double dDistance)
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{
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for (int i=0; i<nMotionInfoCountY; i++)
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{
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if (dDistance>=pMotionInfoY[i].dDistanceStart && dDistance<=pMotionInfoY[i].dDistanceEnd)
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{
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return &pMotionInfoY[i];
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}
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}
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return NULL;
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}
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bool CMotionParm::SetMotionInfoX(int nIndex, const SMotionInfo& motionInfo)
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{
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if (nIndex<0 || nIndex>=nMotionInfoCountX)
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{
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return false;
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}
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pMotionInfoX[nIndex] = motionInfo;
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return true;
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}
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bool CMotionParm::SetMotionInfoY(int nIndex, const SMotionInfo& motionInfo)
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{
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if (nIndex<0 || nIndex>=nMotionInfoCountY)
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{
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return false;
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}
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pMotionInfoY[nIndex] = motionInfo;
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return true;
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}
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SMotionInfo* CMotionParm::GetMotionInfoX(int nIndex)
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{
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if (nIndex<0 || nIndex>=nMotionInfoCountX)
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{
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return NULL;
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}
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return &pMotionInfoX[nIndex];
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}
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SMotionInfo* CMotionParm::GetMotionInfoY(int nIndex)
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{
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if (nIndex<0 || nIndex>=nMotionInfoCountY)
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{
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return NULL;
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}
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return &pMotionInfoY[nIndex];
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}
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void CMotionParm::SetMotionInfoCountX(int nCount)
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{
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if (nCount==0)
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{
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if (pMotionInfoX) delete [] pMotionInfoX;
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pMotionInfoX = NULL;
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nMotionInfoCountX = 0;
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return;
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}
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if (nCount<1) return;
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if (nCount!=nMotionInfoCountX)
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{
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if (pMotionInfoX) delete [] pMotionInfoX;
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nMotionInfoCountX = nCount;
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pMotionInfoX = new SMotionInfo[nMotionInfoCountX];
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}
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for (int i=0; i<nMotionInfoCountX; i++)
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{
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pMotionInfoX[i].Reset();
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}
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}
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void CMotionParm::SetMotionInfoCountY(int nCount)
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{
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if (nCount==0)
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{
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if (pMotionInfoY) delete [] pMotionInfoY;
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pMotionInfoY = NULL;
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nMotionInfoCountY = 0;
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return;
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}
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if (nCount<1) return;
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if (nCount!=nMotionInfoCountY)
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{
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if (pMotionInfoY) delete [] pMotionInfoY;
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nMotionInfoCountY = nCount;
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pMotionInfoY = new SMotionInfo[nMotionInfoCountY];
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}
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for (int i=0; i<nMotionInfoCountY; i++)
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{
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pMotionInfoY[i].Reset();
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}
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}
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int CMotionParm::GetMotionInfoCountX()
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{
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return nMotionInfoCountX;
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}
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int CMotionParm::GetMotionInfoCountY()
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{
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return nMotionInfoCountY;
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}
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int CMotionParm::GetMoveType()
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{
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return nMoveType;
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}
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int CMotionParm::GetCurveType()
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{
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return nCurveType;
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}
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double CMotionParm::GetAutoFocusTime()
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{
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return dAutoFocusTime;
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}
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double CMotionParm::GetImageGrabTime()
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{
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return dImageGrabTime;
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}
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double CMotionParm::GetMotionDelayTime()
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{
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return dMotionDelayTime;
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}
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void CMotionParm::SetMoveType(int nType)
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{
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nMoveType = nType;
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}
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void CMotionParm::SetCurveType(int nType)
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{
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nCurveType = nType;
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}
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void CMotionParm::SetAutoFocusTime(double dTime)
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{
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dAutoFocusTime = dTime;
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}
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void CMotionParm::SetImageGrabTime(double dTime)
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{
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dImageGrabTime = dTime;
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}
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void CMotionParm::SetMotionDelayTime(double dTime)
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{
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dMotionDelayTime = dTime;
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}
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