#pragma once

#include "MotorControl.h"

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

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

	// get status
	virtual int		GetStatus( int& nStatusCode, CString& strStatusMessage );

protected:
	virtual BOOL	ReadAxisPosition(float *pAxisPos, int nAxisCount);

	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);


protected:	
	UINT			m_uDeviceID;
};