#pragma once
// 下列 ifdef 块是创建使从 DLL 导出更简单的
// 宏的标准方法。此 DLL 中的所有文件都是用命令行上定义的 DIOSCTRLBOX_EXPORTS
// 符号编译的。在使用此 DLL 的
// 任何其他项目上不应定义此符号。这样，源文件中包含此文件的任何其他项目都会将
// DIOSCTRLBOX_API 函数视为是从 DLL 导入的，而此 DLL 则将用此宏定义的
// 符号视为是被导出的。
#ifndef DIOSCTRLBOX_EXPORTS
#ifdef _WIN64
#ifdef _DEBUG
#pragma comment(lib, "DiosCtrlBox64D.lib")
#else
#pragma comment(lib, "DiosCtrlBoxX64.lib")
#endif
#else
#ifdef _DEBUG
#pragma comment(lib, "DiosCtrlBoxD.lib")
#else
#pragma comment(lib, "DiosCtrlBox.lib")
#endif
#endif
#endif

#ifdef DIOSCTRLBOX_EXPORTS
#define DIOSCTRLBOX_API __declspec(dllexport)
#define DIOSCTRLBOX_C_API extern "C" __declspec(dllexport)

#else
#define DIOSCTRLBOX_API __declspec(dllimport)
#define DIOSCTRLBOX_C_API extern "C" __declspec(dllimport)
#endif

#include "DPC.h"
#include "Generator_Model_Def.h"
#include "LogicDriver.h"
#include "SerialSCF.h"
#include "DiosLogicDeviceStructure.h"
#include "Mech_Tomo.h"
#include "Hsw_Tomo.h"

#pragma pack(push, 1)

#define DIOSCTRLCPU_COM_TIMEOUT (20000)

#define PACKET_TITLE1 (0xEE)
#define PACKET_TITLE2 (0x5A)

typedef union _FunctionID {
	struct {
		unsigned char DEVID : 4;//
		unsigned char BLOCKID : 4;//
	};
	unsigned char CharPart;
} FUNCTIONID;

typedef union _ShortData {
	struct {
		unsigned char Low;//
		unsigned char High;//
	};
	unsigned short ShortPart;
} SHORTDATA;


typedef struct _CtrlPacketHead {
	unsigned char szTitle[2];
	unsigned char FrameSize;
	unsigned char FrameId;
	unsigned char FrameCmd;
	unsigned char FuncId;
	unsigned char Data1;
	unsigned char Data2;
	unsigned char Data3;
	unsigned char Data4;

}CTRLPACKETHEAD;

typedef struct _TOMONODEINFO {
	//unsigned short Pos;先不要位置坐标
	unsigned short Angle;
}TOMONODEINFO;

#pragma pack(pop)

#define ROTATE_DIR_UP (0x00)

#define ROTATE_DIR_DOWN (0x01)

//IO ports
//HSW
#define FUNCPORTHSW1 (0x11)
#define FUNCPORTHSW2 (0x12)

//伺服电机状态 1:Ready
//#define FUNCPORTSIFUSTATUS (0x14)


#define FUNCPORTEXPNOTIFY (0x31)

//Mech Move
#define FUNCPORTMECHMOVE (0x15)

#define FUNCPORTMECHMOVEPWM (0x16)
#define FUNCPORTMECHMOVEDIR (0x17)

#define FUNCPORTMECHMOVEPOS (0x21)
//Detector ResetPos
#define FUNCPORTRESETPOS (0x22)
//rotate 
#define FUNCPORT_ROTATE_DIR (0x36)
//rotate input
#define FUNCPORT_ROTATE_INPUT (0x37)

#define FUNCPORT_485 (0x43)

//encode
#define ENCODEPORT_A (0x32)
#define ENCODEPORT_B (0x33)
#define ENCODEPORT_Z (0x34)


//MCU Ver
#define MCU_VER (0x48)

//rotate limit
//#define FUNCPORT_ROTATE_HIGHLIMIT (0x13)
#define FUNCPORT_ROTATE_LOWLIMIT (0x13)

#define FUNCPORT_ROTATE_PARKINGPOS (0x14)

#define NOTIFY_POS_MAX_LIMIT (20000)

class DIOSCTRLBOX_API DiosCtrlBoxDPC : public LogicDriver
{
	bool m_EncoderReadyStatus;

	std::string *m_pWorkpath;
	std::string *m_pSTMCMD;

	HAND_SWITCH m_CurrentHsw;
	EXAM_MODE m_CurrentExamMode;

	Mech_Tomo *m_pMech;
	Hsw_Tomo *m_pHsw;

	bool m_HitPrepPos;

	bool m_AngleCorrected;

	bool m_RsetPosChanged;

	//servo
	WORD m_ServoMode;
	WORD m_ServoGuanLiangB;
	WORD m_ServoRoundPulse;
	FLOAT m_TomoPositionConv;

	//电机参数
	USHORT m_MotorPeriod;
	USHORT m_MotorEffectivePeriod;
	USHORT m_ServoEffectivePeriod;
	//为TOMO算法准备----begin
	FLOAT m_TomoAngleReqConvRate;
	FLOAT m_TomoAngleResConvRate;

	//detector
	FLOAT m_DetectorPrepTimePeriod;
	FLOAT m_MotorPerAngle;
	FLOAT m_TomoMoveConvRateA;
	FLOAT m_TomoMoveConvRateB;
	FLOAT m_TomoResetConvRateA;
	FLOAT m_TomoResetConvRateB;
	FLOAT m_TomoMoveSpeed;
	FLOAT m_TomoSpeedConv;
	FLOAT m_TomoMinDistance;
	//gen

	FLOAT m_TomoMinAngleLimit;
	FLOAT m_TomoMinMoveLimit;
	FLOAT m_TomoMoveOffset;// LogicPos = PhyOffset*Ratio + MoveOffset

	FLOAT m_SID;
	FLOAT m_AccDst;//1
	FLOAT m_LatDst;//2
	FLOAT m_SusDst;//3
	FLOAT m_BrkDst;//4
	FLOAT m_TomoWarmAngle;
	FLOAT m_TomoAngle;


	INT m_TomoStepCorr;
	INT m_TomoPeriodCorr;
	DWORD m_TomoAlgorythm;
	
	FLOAT m_EncoderConvA;
	FLOAT m_EncoderConvB;
	FLOAT m_EncoderPrecision;

	DWORD m_TomoWorkArea;


	INT m_LogicTomoPosParamCount;
	INT m_LogicTomoPosParamSize;
	FLOAT *m_pLogicTomoPosParams;
	INT *m_pLogicTomoRPeriodParams;
	INT *m_pLogicTomoRStepParams;

	INT m_LogicTomoFixStepCount;
	INT *m_pLogicTomoFixStepParams;

	DWORD m_NotifyCount;
	FLOAT m_pNotifiedTomoAngle[NOTIFY_POS_MAX_LIMIT];
	FLOAT m_pNotifiedTomoPos[NOTIFY_POS_MAX_LIMIT];
	//为TOMO算法准备----end


	FLOAT m_ResetParams[MECH_1D_POS_MAX];
	FLOAT m_MoveParams[MECH_1D_POS_MAX];
	FLOAT m_RotateParams[MECH_1D_POS_MAX];

	SCFPacket *m_pSendPacket;
	SCFPacket *m_pReceivePacket;
	SCF		*m_pSCFInstance;
	HMODULE	m_DllFileHandle;

	unsigned char m_FrameId;

	//io status
	bool m_Level1HSW;
	bool m_Level2HSW;


	bool PrepCalculation();
	bool Action(DWORD Timeout = DIOSCTRLCPU_COM_TIMEOUT);
	bool ReceiveAck(DWORD Timeout = DIOSCTRLCPU_COM_TIMEOUT);

	USHORT Distance_GetPhyAbsoluteOffsetOnly(FLOAT TargetLogicPos);
	USHORT Distance_GetPhyAbsoluteOffsetEx(FLOAT TargetLogicPos);
	USHORT Distance_GetPhyAbsoluteOffset(FLOAT TargetLogicPos);
	DWORD Angle_GetPhyRelativeOffset(FLOAT TargetLogicAngle, bool Req);

	INT Distance_GetphysicGrainTime();
	USHORT Distance_Logic2Phy(FLOAT LogicDistance);

	FLOAT Distance_Phy2Logic(USHORT PhyDistance);
	FLOAT Detector_Phy2Logic(USHORT PhyDistance);
	DWORD Angle_Logic2Phy(FLOAT LogicAngle, bool Req);
	FLOAT Angle_Phy2Logic(USHORT PhyAngle, bool Req);
	bool IsSameAngle(FLOAT a, FLOAT b);
	bool IsSameHeight(FLOAT a, FLOAT b);
	bool IsSameHeightTomo(FLOAT a, FLOAT b);

	void PrintPacket(bool SendFlag);
	void PrintPacketEx(const char *pszTitle, const char *pPacket, int Len);

	bool BindRotationAndLimitSwitch();
	
	bool WriteServo(UCHAR Target, UCHAR Cmd, USHORT Addr, USHORT Context);

	bool ConfigServo();

	bool InitEncoder();

	bool UnInitEncoder();

	bool AtomRotate2LowLimit(DWORD Timeout = DIOSCTRLCPU_COM_TIMEOUT);
	bool AtomBlindRotateBackward(FLOAT BackwardAngle, DWORD Timeout = DIOSCTRLCPU_COM_TIMEOUT);
	char GetRotateDir(bool Up);

public:
	DiosCtrlBoxDPC(void);
	virtual ~DiosCtrlBoxDPC(void);

	virtual bool DriverEntry(ResDataObject &Configuration);

	virtual bool SYSTEM_CALL Driver_Probe(ResDataObject& PARAM_OUT HardwareInfo);

	virtual bool SetDriverWorkPath(const char *pWorkPath);

	virtual PVOID SYSTEM_CALL LoadDriver();//无根节点
	virtual void SYSTEM_CALL UnloadDriver();

	bool LoadConfiguration(ResDataObject &connection);
	bool InitIOBOX();

	RET_STATUS DATA_ACTION GetTomoResults(ResDataObject &result);

	//actions
	virtual bool Connect();
	virtual void DisConnect();

	virtual bool SYSTEM_CALL SetDeviceWorkPath(const char * PARAM_IN pWorkPath);

	//逻辑设备树的加载和卸载
	virtual PVOID SYSTEM_CALL LoadLogicDevices();
	virtual void SYSTEM_CALL UnloadLogicDevices();

	virtual bool Device_Probe(ResDataObject &HardwareInfo);

	virtual DWORD SYSTEM_CALL OnNotify(HANDLE evtList[], DWORD count);

	static PACKET_RET DiosCtrlBoxDPC::EventCallback(const char * pRecData, DWORD nLength, DWORD & PacketLength);


	//io board ctrl-------------

	bool Action485(const char *pszPacket, DWORD PacketLen, DWORD Timeout);

	bool Ioctl_PWM_Simple(FUNCTIONID Id, unsigned int Distance);
	bool Ioctl3(FUNCTIONID Id, unsigned char Data1, unsigned char Data2, unsigned char Data3);
	bool Ioctl2(FUNCTIONID Id, unsigned char Data1, unsigned char Data2);
	bool Ioctl1(FUNCTIONID Id, unsigned char Data1);

	bool Ioctl_PWM(FUNCTIONID Id, unsigned char Param1, unsigned short FulPeriod, unsigned short HighPeriod, unsigned int PWM);
	bool Ioctl_PWM(FUNCTIONID Id, unsigned char Param1, unsigned short Pos, unsigned short FulPeriod, unsigned short HighPeriod, unsigned int PWM);

	bool Ioctl_dAdT(FUNCTIONID Id, unsigned char Param1,unsigned short AdVal);//CMD:0x01
	bool Ioctl(FUNCTIONID Id, unsigned char *pDataBuff, unsigned int DataLen);//CMD:0x01

	bool Write(FUNCTIONID Id, const char *pszContext, unsigned int PacketLen);
	bool WriteCOM(const char *pszContext, unsigned int PacketLen);
	bool Read_COMResponse(const char *pszContext, unsigned int PacketLen);


	int ReadEx(FUNCTIONID Id, char *pszReq, unsigned int ReqLen, char *pszRes, unsigned int ResLen);
	int Read(FUNCTIONID Id, unsigned char *pszContext, unsigned int PacketLen);

	//dispatch ctrl-------------
	void DispatchPacket(const char *pPacket);
	void DispatchNotifyPacket(const char *pPacket);

	void Dispatch_HSW(HAND_SWITCH hsw);
	void Dispatch_PeriodHit();
	void Dispatch_PWMOffset(unsigned short PwmOffset, unsigned short TimeOffset);

	void Dispatch_HitPos(unsigned short PosOffset, unsigned short TimeOffset);
	void Dispatch_HitAngle(unsigned short AngleOffset);
	void Dispatch_StopMove();
	
	void Dispatch_StopRotate();
	void Dispatch_StopRotate_InTimeout();

	void Dispatch_EncoderReady();

	void Dispatch_TomoExpTrigger(bool Exp);
	void Dispatch_TomoExpPosTrigger(USHORT Pos);

	//base cmd-------------------
	bool GetSiFuStatus();

	bool GetEncoderAngle(FLOAT &Angle);

	bool GetCurMechPos();
	bool GetCurMechAngle();

	bool GetResetHeight();
	bool StopMove();
	bool StopRotate();

	bool StartMove(bool Up);
	bool StartMoveInSpeedMode(bool Up);
	bool StartMoveInPositionMode(bool Up);

	int MoveMechTo(FLOAT TargetPos);//马上返回.0:Moving,1:AtPos,-1:Error
	int RotateMechTo(FLOAT TargetAngle);//马上返回.0:Moving,1:AtPos,-1:Error

	bool ResetAngleAtom();

	bool ResetAngleAtom_Function();


	int MoveMechToTomoStartPos();// 0:Moving,1:AtPos,-1:mechError
	int MoveMechToTomoEndPos();// 0:Moving,1:AtPos,-1:mechError


	//tomo params
	bool SetTomoParams();
	bool ClearTomoParams();

	bool SetTomoParams_Pos();

	bool SetTomoParams_Open();


	//open cmd ------------------------------------------------------
	bool SwitchExam(EXAM_MODE mode);

	//原子操作：MoveMech,RotateMech,ActionMech,RESET
	bool MoveMechAtom(FLOAT Pos,DWORD Timeout);

	bool BlindRotateMech(FLOAT Angle, DWORD Timeout);
	bool AtomBlindRotate(FLOAT Angle, DWORD Timeout);

	bool RotateMechAtom(FLOAT Angle, DWORD Timeout);
	bool ActionMechAtom(FLOAT Pos, FLOAT Angle,DWORD Timeout);
	bool StopMech();
	bool RESET(DWORD Timeout);

	//状态机相关
	bool FramePrep();//check resetpos,make calculation possible.
	bool FrameReady();//after ready.wait HSW ACTION.
	bool FrameStart();//start move
	bool FrameEnd();//Stop Mech
	bool FramePost();//ResetMechWithHSW first.and return.

	//状态机异常
	bool FrameError();
	bool FrameRecover();
	bool SeqError();
	bool SeqEnd();
};


DIOSCTRLBOX_C_API DriverDPC*  GetDriverDPC();
DIOSCTRLBOX_C_API  void  ReleaseDriverDPC(DriverDPC *p);