JSBTDieBondH/Output/inc/Module/CAxis.h

#pragma once
#include "dt.h"
#include "CHardware.h"
#include "JAxis.h"
#include "CMessageBox.h"


//#define WIN32_LEAN_AND_MEAN

#ifdef C_AXIS_EXPORTS
#define C_AXIS_DLL_API __declspec(dllexport)
#else
#define C_AXIS_DLL_API //__declspec(dllimport)
#endif

enum SPEED {
	FAST=10,		//快速
	MEDIUM=5,		//中速
	SLOW=2			//慢速
};

#define SYNC	true		//等待到位
#define NOSYNC	false		//不待待到位

#define MOVEING 1    

//#define FORCE_BUFFER_NO 6
//
//#define FORCE_SPRING_BUFFER_NO 10


class C_AXIS_DLL_API CAxis
{
public:
	enum AXIS_TYPE { X = 0, Y, Z, R, FORCE, Z1 };
	enum TRIG_AXIS { TX = 0, TY, TZ};
	typedef struct _HOT_ZONE_ID_STRUCT
	{
		INT	ZoneId;						//热区Id
		string	ModuleType;				//模组类型
		TRIG_AXIS TrigAxis;				//触发热区的轴		
		// 重载 == 运算符
		bool operator==(const _HOT_ZONE_ID_STRUCT& other) const {
			return (ZoneId == other.ZoneId) && (ModuleType == other.ModuleType) && (TrigAxis == other.TrigAxis);
		}
	}HOT_ZONE_ID_STRUCT; //

	static void SetHotZone(bool bEnable);
private:
	AXIS_TYPE m_eAxisType = AXIS_TYPE::X;
	string m_strAxisType;
	string m_strModuleType;
	string m_strModuleName;
	JAxis* m_pAxis = nullptr;
	string m_strAxisName = "";
	INT m_iUse = 0;

	bool m_bIsInitSuccess = false;

	UINT m_iHomeTime = 500000;				//回零等待时间(秒)
	UINT m_iFastTime = 50000;				//快速等待时间(秒)
	UINT m_iMediumTime = 50000;				//中速等待时间(秒)
	UINT m_iSlowTime = 100000;				//慢速等待时间(秒)
	UINT m_iLastWaitTime = 100000;			//上次移动的等待时间
	UINT m_iCommonWaitTime = 100000;			//其他情况等待事件
	unsigned long m_lStartSysTime;			//开始移动的系统时间

	bool    m_bEnable = false;               //运控卡禁止/启用

	std::vector <ns_db::MODULE_HOT_ZONE_STRUCT> m_vecHotZoneList;

	static std::mutex m_MutexHotZone;
	static bool m_bHotZoneEnable;
	static std::vector<HOT_ZONE_ID_STRUCT> m_vecHotZoneId;

	//轴当前位置，模拟测试时才会使用
	double m_dCurrentPosition;

	CMessageBox* m_pMessageBox = nullptr;

private:
	//判断要移动的位置，是否有热区冲突
	bool CheckHotZone(double pos);
	bool IsTriggerHotZoneX(double pos);
	bool IsTriggerHotZoneY(double pos);
	bool IsTriggerHotZoneZ(double pos);
	bool IsTriggerHotZone(ns_db::MODULE_HOT_ZONE_STRUCT stHotZone, AXIS_TYPE axis,double pos);
	//设置当前位置是否触发热区
	void SetTriggerHotZone();
	void AddHotZoneId(HOT_ZONE_ID_STRUCT stHotZone);
	void DeleteHotZoneId(HOT_ZONE_ID_STRUCT stHotZone);

	void PopWarn(AlarmID iId, std::string strDescribe,std::string otherInfo = "",
		LogStream::LogLevel iLevel = LogStream::LogLevel::Error, int buttons = BUTTON_TYPE::CLOSE_BUTTON, std::string strTip = "", std::string strHelp = "");
public:
	CAxis();

	LONG Init(JAxis* pAxis, ns_db::AXIS_LIST_STRUCT *pAxisStruct);
	string GetAxisName() {return m_strAxisName;};
	string GetModuleType() { return m_strModuleType; };
	string GetModuleName() { return m_strModuleName; };
	string GetStringAxisType() { return m_strAxisType; };
	string GetStringModuleType() { return m_strModuleType; };
	AXIS_TYPE GetAxisType() { return m_eAxisType; };

	//LONG SetJogMotionMode

	LONG GetAxisStatus(AxisStatus& axisStatus);
	LONG GetActualPos(double &pos); //反馈位置
	LONG AxisOn();
	LONG AxisOff();
	LONG GetProfilePos(double& dProfilePos); //指令位置
	LONG Sync();
	LONG Stop(AxisStopMode eStopMode = AXIS_SMOOTH_STOP);
	LONG CheckDone();
	LONG Home(bool bSync = SYNC);

	/**使能状态获取
	 */
	bool JIsDriveEnabled();

	/**获取软限位正负使能配置状态接口
	 */
	int JGetSoftLimitEnableStatus(bool& bEnabledNeg, bool& bEnabledPos);

	/**设置正负软限位接口
	* Neg 负 
	* Pos 正
	 */
	int JSetSoftLimit(double dNegLimit,double dPosLimit);

    /**获取软限位及软行程
     */
	int JGetSoftLimit(double& dSoftLimitNeg, double& dSoftLimitPos, double& dSoftTravelRange);

	/**直接设置速度的数值
	 */
	int JSetTargetVel(double dVel);

	/**设置最大速度(基准速度)user units
	 */
	int JSetMaxVelocity(double dMVel);

	/**获取最大速度设置
	 */
    int JGetMaxVelocity(double& dMaxVel);

	/**要按最大速度的比例设置速度（0-1）
	 */
	int JSetTargetVelR(double dVelRatio);

	LONG Move_PassPosReturn(double dDist, double dPassDist, SPEED speed = FAST);
	LONG MoveTo_PassPosReturn(double dPos, double dPassPos, SPEED speed = FAST);
	LONG Move(double dDist, SPEED speed = FAST,  bool bSync = SYNC);
	LONG MoveTo(double dPos, SPEED speed = FAST,  bool bSync = SYNC);
	LONG Move(double dPos, double speed, bool bSync = SYNC);
	LONG MoveTo(double dPos, double speed, bool bSync = SYNC);
	
	LONG MoveForceCurrent(int nTorqueRatio, int nReachTime = 50, int nStopTime = 10);
	LONG GetProfileCurrent(double& dProfileTorque); //获取指令电流
	LONG GetActualCurrent(double& dProfileTorque);	//获取反馈电流
	LONG SetStopDec(double val, double val1);
	LONG SetBufferParamF(int nBufferNo, std::string sParamFName, double dDoubleParam);
	LONG GetBufferParamF(int nBufferNo, std::string sParamFName, double& dDoubleParam);
	LONG SetBufferParam(int nBufferNo, std::string sParamFName, int dDoubleParam);
	LONG GetBufferParam(int nBufferNo, std::string sParamFName, int& dDoubleParam);
	LONG WriteSerialValueF(std::string sSerial, double tValue);

	LONG WriteSerialValueN(std::string sSerial, int tValue);
	LONG WriteSocketValueF(std::string ascii, double tValue);
	LONG WriteSocketValueN(std::string ascii, int tValue);
	LONG WriteSocketCommand(std::string ascii);
	LONG GetSocketValueF(std::string ascii, float& tValue);
	LONG GetSocketValueN(std::string ascii, int& tValue);

	//LONG RunForcerBuffer();  //运行力控buffer，不断判断弹簧压合到特定位置，到特定位置控制力控轴停下来
	//LONG RunSpringForcerBuffer();  //运行弹簧力控buffer，循环判断多段弹簧压合位置，每次到压合位置Z轴停下来
	LONG RunBuffer(int id);
	LONG StopBuffer(int id);




};