#pragma once

#include "MotionInfo_Axis.h"

enum MotionInfo_AxisType	{ AxisType_X=0, AxisType_Y, AxisType_Count };

typedef std::vector<double>					VectorDouble;
typedef std::vector<double>::iterator		VectorDoubleIt;
typedef std::vector<double>::const_iterator	constVectorDoubleIt;

typedef std::vector<BOOL>					VectorBOOL;
typedef std::vector<BOOL>::iterator			VectorBOOLIt;
typedef std::vector<BOOL>::const_iterator	constVectorBOOLIt;

class AFX_EXT_CLASS CMotionInfo_Gantry
{
public:
	CMotionInfo_Gantry(int nIndex=0);
	virtual ~CMotionInfo_Gantry(void);

	// getter
	int		GetIndex() const;
	double	GetVelocity(int nAxisType) const;
	double	GetAccelTime(int nAxisType) const;
	double	GetDecelTime(int nAxisType) const;
	double	GetStartPos(int nAxisType) const;
	double	GetEndPos(int nAxisType) const;

	// current
	double	GetCurVelocity(int& nAxisType) const;
	double	GetCurAccelTime(int& nAxisType) const;
	double	GetCurDecelTime(int& nAxisType) const;
	double	GetCurFixTime(int& nAxisType) const;
	double	GetCurTotalTime(int& nAxisType) const;
	double	GetCurAccelDist(int& nAxisType) const;
	double	GetCurDecelDist(int& nAxisType) const;
	double	GetCurFixDist(int& nAxisType) const;
	double	GetCurTotalDist(int& nAxisType) const;

	// current min
	double	GetCurVelocity_Min(int& nAxisType) const;
	double	GetCurAccelTime_Min(int& nAxisType) const;
	double	GetCurDecelTime_Min(int& nAxisType) const;
	double	GetCurFixTime_Min(int& nAxisType) const;
	double	GetCurTotalTime_Min(int& nAxisType) const;
	double	GetCurAccelDist_Min(int& nAxisType) const;
	double	GetCurDecelDist_Min(int& nAxisType) const;
	double	GetCurFixDist_Min(int& nAxisType) const;
	double	GetCurTotalDist_Min(int& nAxisType) const;

	// current max
	double	GetCurVelocity_Max(int& nAxisType) const;
	double	GetCurAccelTime_Max(int& nAxisType) const;
	double	GetCurDecelTime_Max(int& nAxisType) const;
	double	GetCurFixTime_Max(int& nAxisType) const;
	double	GetCurTotalTime_Max(int& nAxisType) const;
	double	GetCurAccelDist_Max(int& nAxisType) const;
	double	GetCurDecelDist_Max(int& nAxisType) const;
	double	GetCurFixDist_Max(int& nAxisType) const;
	double	GetCurTotalDist_Max(int& nAxisType) const;

	const CMotionInfo_Axis* GetMotionInfo_Axis(int nAxisType) const;
	CMotionInfo_Axis* GetMotionInfo_Axis(int nAxisType);
	int		GetMotionInfo_AxisCount() const;

	// setter
	void	SetVelocity(int nAxisType, double dVelocity);
	void	SetAccelTime(int nAxisType, double dAccelTime);
	void	SetDecelTime(int nAxisType, double dDecelTime);
	void	SetStartPos(int nAxisType, double dStartPos);
	void	SetEndPos(int nAxisType, double dEndPos);
	void	SetData(int nAxisType, double dVelocity, double dAccelTime, double dDecelTime, double dStartPos, double dEndPos);

	// calculate
	int		CalculateMotion(int nAxisType, double dTime, double& dPos, double& dVelocity, BOOL& bEnd);
	int		CalculateMotion(double dTime, VectorDouble& vecPos, VectorDouble& vecVelocity, VectorBOOL& vecEnd);

protected:
	int				m_nIndex;
	double			m_dCurVelocity;
	double			m_dCurAccelTime;
	double			m_dCurDecelTime;
	double			m_dCurTotalTime;
	double			m_dCurFixTime;
	double			m_dCurAccelDist;
	double			m_dCurDecelDist;
	double			m_dCurFixDist;
	double			m_dCurTotalDist;
	
	VectorMotionInfo_Axis	m_vecMotionInfo;
};
typedef std::vector<CMotionInfo_Gantry>					VectorMotionInfo_Gantry;
typedef std::vector<CMotionInfo_Gantry>::iterator		VectorMotionInfo_GantryIt;
typedef std::vector<CMotionInfo_Gantry>::const_iterator	constVectorMotionInfo_GantryIt;