#pragma once
#include "CModule.h"
#include "CCylinder.h"

class __declspec(dllexport) CTransporter :
    public CModule
{
public:

    CTransporter(MODULE_LIST eModuleType);
    ~CTransporter();

    virtual LONG AllocateAxis(vector<CAxis*> vecAxis);
    virtual LONG AllocateIo(vector<CIO*> vecIo);
    virtual LONG ToHome() ;
    virtual LONG ToSafePosition();
    virtual LONG GetParam();
    virtual void SetDataChangFunction();
    virtual LONG SetParam();
    virtual LONG InitResource();
    virtual void DataChangNotice(string strDbName, string strTableName) ;

    virtual LONG Sync();

    //等待传感器信号
    LONG WaitSensor(CIO* sensor);

    //勾料
    LONG PullFeed();

    LONG FeedToWorkPos();

    LONG FeedToPushPos();

    LONG PushFeed();



private:

    //勾料气缸
    CIO* m_pPullXDo = nullptr;
    CIO* m_pPullXNegDi = nullptr;
    CIO* m_pPullXPosDi = nullptr;

    //勾料顶升气缸
    CIO* m_pPullZDo = nullptr;
    CIO* m_pPullZNegDi = nullptr;
    CIO* m_pPullZPosDi = nullptr;

    //勾料阻挡气缸
    CIO* m_pPullBlockDo = nullptr;
    CIO* m_pPullBlockNegDi = nullptr;
    CIO* m_pPullBlockPosDi = nullptr;

    //工作位阻挡气缸
    CIO* m_pWorkBlockDo = nullptr;
    CIO* m_pWorkBlockNegDi = nullptr;
    CIO* m_pWorkBlockPosDi = nullptr;

    //推料气缸
    CIO* m_pPushXDo = nullptr;
    CIO* m_pPushXNegDi = nullptr;
    CIO* m_pPushXPosDi = nullptr;

    //推料顶升气缸
    CIO* m_pPushZDo = nullptr;
    CIO* m_pPushZNegDi = nullptr;
    CIO* m_pPushZPosDi = nullptr;

    //推料阻挡气缸
    CIO* m_pPushBlockDo = nullptr;
    CIO* m_pPushBlockNegDi = nullptr;
    CIO* m_pPushBlockPosDi = nullptr;

    //步进轴绝对运动 实际是相对运动
    //工位一 勾料步进电机,将料从勾料处传送到
    CAxis* m_pPullStepAxis = nullptr;
    //工位二 工位步进电机，获取料以及传送料
    CAxis* m_pWorkStepAxis = nullptr;
    //工位三 推料步进电机 将料输送到推料位
    CAxis* m_pPushStepAxis = nullptr;

    //入料检测信号
    CIO* m_pFeedInputExistDi = nullptr;
    //勾料到位信号
    CIO* m_pPullArriveDi = nullptr;
    //料到达工作位信号
    CIO* m_pWorkArriveDi = nullptr;
    //推料到位信号
    CIO* m_pPushArriveDi = nullptr;
    //出料检测信号
    CIO* m_pFeedOutputExistDi = nullptr;

    CCylinder* m_pPullXCyl = nullptr;
    CCylinder* m_pPullZCyl = nullptr;
    CCylinder* m_pPullBlockCyl = nullptr;
    //！！！注意顶升气缸上升才能移动推料气缸
    CCylinder* m_pPushXCyl = nullptr;
    CCylinder* m_pPushZCyl = nullptr;   
    CCylinder* m_pPushBlockCyl = nullptr;
    CCylinder* m_pWorkBlockCyl = nullptr;


    double m_dPullDis = 0;
    double m_dWorkPullDis = 0;
    double m_dWorkStationPushDis = 0;
    double m_dPushDis = 0;


};