#pragma once

#include "motorcontrol.h"
#include "MotionInfo_Axis.h"

class AFX_EXT_CLASS CMotorControl_Simulation : public CMotorControl
{
public:
	CMotorControl_Simulation(int nIndex, DWORD dwPeriod=100,int nThreadCount = 1);
	virtual ~CMotorControl_Simulation(void);

public:
	// CMotorControl
	virtual int		Connect(const CMotorControlInfo* pControlInfo);
	virtual void	Disconnect();
	virtual BOOL	ReadAddressValue(int nAddress, long &nValue);
	virtual BOOL	WriteAddressValue(int nAddress, long nValue);
	virtual BOOL	ReadAddressValue(int nAddress, float &fValue);
	virtual BOOL	WriteAddressValue(int nAddress, float fValue);
	virtual BOOL	ReadAddressValue(int nAddress, double &dValue);
	virtual BOOL	WriteAddressValue(int nAddress, double dValue);

	virtual void	IMT2P_RunThreadProcess(const CMotionData& motionData);

protected:
	virtual BOOL	ReadAxisPosition(float *pAxisPos, int nAxisCount);
	virtual BOOL	ReadAxisStatus(long *pAxisStatus, int nAxisCount);
	virtual BOOL	ReadThetaAxisPosition( float& fAxisPos);
	virtual BOOL	ReadThetaAxisStatus(long& nAxisStatus);

	virtual BOOL	ReadAddressValue(long nAddress, long *pArrayData, int nArrayCount);
	virtual BOOL	WriteAddressValue(long nAddress, long *pArrayData, int nArrayCount);
	virtual BOOL	ReadAddressValue(long nAddress, float *pArrayData, int nArrayCount);
	virtual BOOL	WriteAddressValue(long nAddress, float *pArrayData, int nArrayCount);

public:
	// common
	virtual BOOL	CommonSetAutoStop();

	// axis
	virtual BOOL	AxisManualGo(int nAxisIdx, double dPosition);
	virtual BOOL	AxisJogPlus(int nAxisIdx);
	virtual BOOL	AxisJogMinus(int nAxisIdx);
	virtual BOOL	AxisJogStop(int nAxisIdx);
	virtual BOOL	AxisManualGoSpeed(int nAxisIdx, double dSpeed);
	virtual BOOL	AxisJogSpeed(int nAxisIdx, double dSpeed);
	virtual BOOL	AxisManualGoAccel(int nAxisIdx, int nAccel);

	// gantry
	virtual BOOL	GantryManualGo(int nGantryIdx, const VectorDouble& vectorPos);
	virtual BOOL	GantryManualGo(int nGantryIdx, const VectorDouble& vectorPos, int nMoveType);
	virtual BOOL	GantryManualGo(int nGantryIdx, double dPosX, double dPosY);

	//Theta Motor
	virtual BOOL	AxisThetaManualGo(double dPosition);
	virtual BOOL	AxisThetaJogPlus();
	virtual BOOL	AxisThetaJogMinus();
	virtual BOOL	AxisThetaJogStop();

	// review
	virtual BOOL	GantryAutoGo(int nGantryIdx, const VectorDouble& vectorPosX, const VectorDouble& vectorPosY, BOOL bCommand=FALSE);	
protected:
	virtual void	Process_AxisManualGo(const CMotionData& motionData);		// For Simulation Thread
	virtual void	Process_JogGo(const CMotionData& motionData);				// For Simulation Thread
	virtual void	Process_GantryGo(const CMotionData& motionData);			// For Simulation Thread
	virtual void	Process_AutoGo(const CMotionData& motionData);				// For Simulation Thread	
	CMotionInfo_Axis*	GetMotionInfo_Axis(int nAxisIndex);
	float*				GetCurAxisPosition(int nAxisIndex);
	float*				GetCurAxisVelocity(int nAxisIndex);
	long*				GetCurAxisStatus(int nAxisIndex);


protected:
	CMotionInfo_Axis	*m_pMotionInfo_Axis;
	long				*m_pCurAxisStatus;
	float				*m_pCurAxisPosition;
	float				*m_pCurAxisVelocity;

	CMotionInfo_Axis	m_MotionInfo_ThetaAxis;
	long				m_lCurThetaAxisStatus;
	float				m_fCurThetaAxisPosition;
	float				m_fCurThetaAxisVelocity;
};