#pragma once
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#include <vector>
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class CMotionInfo_Axis
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{
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public:
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CMotionInfo_Axis(int nIndex=0);
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~CMotionInfo_Axis();
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int GetIndex() const;
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void SetIndex(int nIndex);
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// move
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int GetEmergencyStop() const;
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int GetMoveDirection() const;
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double GetMoveVelocity() const;
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double GetMoveAccelTime() const;
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double GetMoveDecelTime() const;
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double GetMoveStartPos() const;
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double GetMoveEndPos() const;
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void SetEmergencyStop(int nValue);
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void SetMoveVelocity(double dVelocity);
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void SetMoveAccelTime(double dAccelTime);
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void SetMoveDecelTime(double dDecelTime);
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void SetMoveStartPos(double dStartPos);
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void SetMoveEndPos(double dEndPos);
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void SetMoveData(double dVelocity, double dAccelTime, double dDecelTime, double dStartPos, double dEndPos);
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// jog
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double GetJogVelocity() const;
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double GetJogAccelTime() const;
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double GetJogDecelTime() const;
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double GetJogStartPos() const;
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void SetJogVelocity(double dVelocity);
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void SetJogAccelTime(double dAccelTime);
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void SetJogDecelTime(double dDecelTime);
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void SetJogStartPos(double dStartPos);
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void SetJogData(double dVelocity, double dAccelTime, double dDecelTime, double dStartPos);
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// current
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UINT GetCurStatus() const;
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double GetCurPosition() const;
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double GetCurVelocity() const;
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double GetCurAccelTime() const;
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double GetCurDecelTime() const;
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double GetCurFixTime() const;
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double GetCurTotalTime() const;
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double GetCurAccelDist() const;
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double GetCurDecelDist() const;
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double GetCurFixDist() const;
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double GetCurTotalDist() const;
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void SetCurStatus(int nStatus) { m_nCurStatus = nStatus; }
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// calculate
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int CalculateMoveMotion(double dTime, double& dPos, double& dVelocity, UINT& nStatus);
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int CalculateJogMotion(double dTime, int nJogDir, double& dPos, double& dVelocity, UINT& nStatus);
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protected:
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int CalculateMoveValue();
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int CalculateJogValue();
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protected:
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int m_nEmergencyStop; //
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int m_nMoveDirection; // 0 is not calculated
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double m_dCurPosition; // cur position
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UINT m_nCurStatus; // cur status
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double m_dCurVelocity; // mm/sec
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double m_dCurAccelTime; // sec
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double m_dCurDecelTime; // sec
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double m_dCurFixTime; // sec
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double m_dCurTotalTime; // sec
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double m_dCurAccelDist; // mm
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double m_dCurDecelDist; // mm
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double m_dCurFixDist; // mm
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double m_dCurTotalDist; // mm
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int m_nIndex;
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double m_dMoveVelocity; // mm/sec
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double m_dMoveAccelTime; // sec
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double m_dMoveDecelTime; // sec
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double m_dMoveStartPos; // mm
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double m_dMoveEndPos; // mm
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double m_dJogVelocity; // mm/sec
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double m_dJogAccelTime; // sec
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double m_dJogDecelTime; // sec
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double m_dJogStartPos; // mm
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};
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typedef std::vector<CMotionInfo_Axis> VectorMotionInfo_Axis;
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typedef std::vector<CMotionInfo_Axis>::iterator VectorMotionInfo_AxisIt;
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typedef std::vector<CMotionInfo_Axis>::const_iterator constVectorMotionInfo_AxisIt;
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