#pragma once

#include "MotorControlInfo.h"
#include "CHThreadPools/TimerThreadPools.h"
#include "MotionThread.h"

#include <vector>
typedef std::vector<long>				VectorLong;
typedef std::vector<long>::iterator		VectorLongIt;
typedef std::vector<int>				VectorInteger;
typedef std::vector<int>::iterator		VectorIntegerIt;
// typedef std::vector<double>				VectorDouble;
// typedef std::vector<double>::iterator	VectorDoubleIt;


class AFX_EXT_CLASS  CMotorControl : public CTimerThreadPools, public IMotionThread2Parent
{
public:
	CMotorControl(int nIndex, DWORD dwPeriod=100,int nThreadCount = 1);
	virtual ~CMotorControl(void);
	void SetMC2P(IMotorControl2Parent* pMC2P)						{ m_pMC2P = pMC2P; }
	BOOL GetConnected()	const										{ return m_bConnected; }
	const CMotorControlInfo* GetControlInfo()						{ return &m_ControlInfo; }

	virtual BOOL StartThread();
	virtual void StopThread();
	virtual void TimerThreadProcess(PVOID pParameter);

public:
	// CMotorControl
	virtual int		Connect(const CMotorControlInfo* pControlInfo) = 0;
	virtual void	Disconnect() = 0;
	virtual BOOL	ReadAddressValue(int nAddress, long &nValue) = 0;
	virtual BOOL	WriteAddressValue(int nAddress, long nValue) = 0;
	virtual BOOL	ReadAddressValue(int nAddress, float &fValue) = 0;
	virtual BOOL	WriteAddressValue(int nAddress, float fValue) = 0;
	virtual BOOL	ReadAddressValue(int nAddress, double &dValue) = 0;
	virtual BOOL	WriteAddressValue(int nAddress, double dValue) = 0;

protected:
	virtual BOOL	ReadAddressValue(long nAddress, long *pArrayData, int nArrayCount) = 0;
	virtual BOOL	WriteAddressValue(long nAddress, long *pArrayData, int nArrayCount) = 0;
	virtual BOOL	ReadAddressValue(long nAddress, float *pArrayData, int nArrayCount) = 0;
	virtual BOOL	WriteAddressValue(long nAddress, float *pArrayData, int nArrayCount) = 0;

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);

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);

	// review
	virtual BOOL	GantryAutoGo(int nGantryIdx, const VectorDouble& vectorPosX, const VectorDouble& vectorPosY, BOOL bCommand=FALSE);
	
	//Wsi
	virtual BOOL    GantryWsiAutoGo(int nGantryIdx, const VectorDouble& vectorPosX, const VectorDouble& vectorPosY, BOOL bCommand=FALSE);
	
	// get status
	virtual int		GetStatus( int& nStatusCode, CString& strStatusMessage );


public:
	// common
	BOOL	CommonSetAfDelayTime(long nTime = 0);
	BOOL	CommonSetImageDelayTime(long nTime = 0);
	BOOL	CommonSetWsiDelayTime(long nTime = 0);
	BOOL	CommonSetAutoGoAll();
	BOOL	CommonSetAutoMeasureGoAll();
	BOOL	CommonSetAutoWsiGoAll();
	
	void	SetUseWsi(BOOL bUse)		{ m_bUseWsi = bUse; }		

	// all axis 
	BOOL	AxisJogStop();
	BOOL	AxisManualGoSpeed(double dSpeed);
	BOOL	AxisJogSpeed(double dSpeed);
	BOOL	AxisManualGoAccel(int nAccel);
	BOOL	IsAxisMotionEnd();

	BOOL	AxisManualGoEnd(int nAxisIdx, double dPosition);
	BOOL	AxisManualGo(const VectorInteger& vectorAxis, const VectorDouble& vectorPosition);
	BOOL	IsAxisMotionEnd(int nAxisIdx);

	// axis theta
	virtual BOOL	AxisThetaManualGo(double dPosition);
	virtual BOOL	AxisThetaJogPlus();
	virtual BOOL	AxisThetaJogMinus();
	virtual BOOL	AxisThetaJogStop();

	BOOL	AxisThetaManualGoEnd(double dPosition);
	BOOL	AxisThetaManualGoSpeed(double dSpeed);
	BOOL	AxisThetaJogSpeed(double dSpeed);
	BOOL	AxisThetaManualGoAccel(int nAccel);
	BOOL	IsAxisThetaMotionEnd();

	// gantry
	BOOL	GantryManualGoEnd(int nGantryIdx, const VectorDouble& vectorPos);
	BOOL	GantryManualGoEnd(int nGantryIdx, const VectorDouble& vectorPos, int nMoveType);
	BOOL	GantryManualGoEnd(int nGantryIdx, double dPosX, double dPosY);
	BOOL	GantrySetCollisionPosition(int nGantryIdx, double dPosX, double dPosY,int nFirstIn=1);
	const int	GetGantryCollisionXAddr(int nGantryIdx);
	BOOL	GantrySetTwoGantrySyncModeSend(bool bUse);

	// review 
	BOOL	GantryAutoGo(int nGantryIdx);
	BOOL	GantrySetMoveCount(int nGantryIdx, long nCount);
	BOOL	GantryGetMoveCount(int nGantryIdx, long& nCount);
	BOOL	GantryGetTriggerCount(int nGantryIdx, long& nCount);

	// measure
	BOOL	GantryMeasureAutoGo(int nGantryIdx, const VectorDouble& vectorPosData, BOOL bCommand=FALSE);
	BOOL	GantryMeasureAutoGo(int nGantryIdx);
	BOOL	GantrySetMeasureMoveCount(int nGantryIdx, long nCount);
	BOOL	GantryGetMeasureMoveCount(int nGantryIdx, long& nCount);
	BOOL	GantryGetMeasureTriggerCount(int nGantryIdx, long& nCount);

	// wsi 
	BOOL	GantryWsiAutoGo(int nGantryIdx);
	BOOL	GantrySetWsiMoveCount(int nGantryIdx, long nCount);
	BOOL	GantryGetWsiMoveCount(int nGantryIdx, long& nCount);
	BOOL	GantryGetWsiTriggerCount(int nGantryIdx, long& nCount);
	BOOL	GantryWsiNextPosMove(int nGantryIdx, long nNextIdx);

	// Software Trigger Command
	BOOL	SoftWareTriggerCmd(int nGantryIdx, long lCmd);

	// Command Ack 
	BOOL	AxisThetaManualGoAck(long &lAck); 
	BOOL	AxisThetaManualGoAck(long &lAck, DWORD nWaitTime);
	BOOL	GantryManualGoAck(int nGantryIdx, long &lAck); 
	BOOL	GantryManualGoAck(int nGantryIdx, long &lAck, DWORD nWaitTime); 
	BOOL	GantryAutoGoAck(int nGantryIdx, long& lAck);
	BOOL	GantryAutoGoAck(int nGantryIdx, long& lAck, DWORD nWaitTime);	
	BOOL	GantryMeasureAutoGoAck(int nGantryIdx, long &lAck); 
	BOOL	GantryMeasureAutoGoAck(int nGantryIdx, long &lAck, DWORD nWaitTime);
	BOOL	GantryWsiAutoGoAck(int nGantryIdx, long &lAck);	
	BOOL	GantryWsiAutoGoAck(int nGantryIdx, long &lAck, DWORD nWaitTime);

	BOOL	IsGantryMotionEnd(int nGantryIdx);
	BOOL	IsMotionEnd();

	BOOL	RemoveAllAutoGoCount(int nGantryIdx);

	BOOL	GetAxisLimitPosition(int nAxisIdx, double& dPlusLimit, double& dMinusLimit);


protected:
	virtual void	Process_AxisMotionEnd(const CMotionData& motionData);
	virtual void	Process_GantryMotionEnd(const CMotionData& motionData);
	virtual void	Process_ThetaMotionEnd(const CMotionData& motionData);

	// axis
	int		GetAxisGantryIndex(int nAxisIdx);
	int		GetAxisPositionAddr(int nAxisIdx);
	int		GetAxisStatusAddr(int nAxisIdx);
	int		GetAxisGoPositionAddr(int nAxisIdx);
	int		GetAxisGoPositionCommonAddr(int nAxisIdx);
	int		GetAxisJogCommandAddr(int nAxisIdx);
	int		GetAxisManualGoSpeedAddr(int nAxisIdx);
	int		GetAxisManualGoAccelAddr(int nAxisIdx);
	int		GetAxisJogSpeedAddr(int nAxisIdx);

	// theta axis
	int		GetAxisThetaPositionAddr();
	int		GetAxisThetaStatusAddr();
	int		GetAxisThetaGoPositionAddr();
	int		GetAxisThetaJogCommandAddr();
	int		GetAxisThetaManualGoAddr();
	int		GetAxisThetaManualGoAckAddr();
	int		GetAxisThetaManualGoSpeedAddr();
	int		GetAxisThetaManualGoAccelAddr();
	int		GetAxisThetaJogSpeedAddr();
	int		GetAxisThetaJogAccelAddr();

	// gantry
	int		GetGantryAxisCount(int nGantryIdx);
	int		GetGantryManualGoAddr(int nGantryIdx);
	int		GetGantryManualGoAckAddr(int nGantryIdx);
	int		GetGantryCollisionPositionXAddr(int nGantryIdx);
	int		GetGantryCollisionPositionYAddr(int nGantryIdx);


	int		GetGantryAutoGoAddr(int nGantryIdx);
	int		GetGantryAutoGoAckAddr(int nGantryIdx);
	int		GetGantryMoveCountAddr(int nGantryIdx);
	int		GetGantryTriggerCountAddr(int nGantryIdx);

	int		GetGantryMeasureAutoGoAddr(int nGantryIdx);
	int		GetGantryMeasureAutoGoAckAddr(int nGantryIdx);
	int		GetGantryMeasureMoveCountAddr(int nGantryIdx);
	int		GetGantryMeasureTriggerCountAddr(int nGantryIdx);

	int		GetGantryWsiAutoGoAddr(int nGantryIdx);
	int		GetGantryWsiAutoGoAckAddr(int nGantryIdx);
	int		GetGantryWsiMoveCountAddr(int nGantryIdx);
	int		GetGantryWsiTriggerCountAddr(int nGantryIdx);
	int		GetGantryWsiMotionEndAddr(int nGantryIdx);
	int		GetGantryWsiNextPosMoveAddr(int nGantryIdx);

	// Software Trigger Address
	int		GetSoftwareTriggerAddr(int nGantryIdx);
	int		GetSoftwareTriggerCmdAddr(int nGantryIdx);
	int		GetImageSnapCompleteAddr(int nGantryIdx);

	static BOOL	TransformIP_CStringToDWORD(const CString& strServerIP, DWORD& dwServerIP);

	BOOL	GetUseWsi()		{ return m_bUseWsi; }
	
public:
	virtual void IMT2P_RunThreadProcess(const CMotionData& motionData);

protected:


protected:
	IMotorControl2Parent*	m_pMC2P;
	CMotorControlInfo		m_ControlInfo;
	CMotionThread*			m_pMotionThread;

protected:
	int						m_nIndex;
	DWORD					m_dwPeriod;
	BOOL					m_bConnected;

	// var
	int						m_nAxisCount;

	long					*m_pAxisStatus;
	float					*m_pAxisPosition;
	long					*m_pAxisStatusPrev;
	float					*m_pAxisPositionPrev;

	long					*m_pAxisStatusAddr;
	long					*m_pAxisPositionAddr;

	//  axis theta
	long					m_axisThetaStatus;
	long					m_axisThetaStatusPrev;
	float					m_axisThetaPosition;
	float					m_axisThetaPositionPrev;

	// review enable
	long					m_nAutoEnable;
	long					m_nAutoEnablePrev;

	/*< LYW 20220704 - #4220 ADD Start >*/
	long					m_nMotorAlive;
	long					m_nMotorAlivePrev;
	DWORD					dwLastAliveTick;
	/*< LYW 20220704 - #4220 ADD End >*/

	// wsi signal
	long					m_nWsiMotionEndPrev;
	BOOL					m_bUseWsi;
	bool					m_nWsiMotionEndPrev2;
};