#include "stdafx.h"
#include "ConfigurerMotion.h"
#include "ConfigurationManager.h"

using namespace DIOS::Dev::Detail::MachineryECOM;

std::string ConfigurerMotion::GetPinDefineFileName()
{
	return (const char *)ConfigurationManager::Instance()->GetMachineryConfig("PinDefineFilePath");
}

BOOL  ConfigurerMotion::GetUseTubeHeightADLandmark()
{
	auto status = atoi((const char *)ConfigurationManager::Instance()->GetConfigTubeVertical("UseTubeHeightADLandmark"));
	return status != 0;
}

BOOL  ConfigurerMotion::GetUseTubeAngleADLandmark()
{
	auto status = atoi((const char *)ConfigurationManager::Instance()->GetConfigTubeRotation("UseTubeAngleADLandmark"));
	return status != 0;
}

BOOL  ConfigurerMotion::GetUseHandSwitchControlReset()
{
	auto status = atoi((const char *)ConfigurationManager::Instance()->GetMachineryConfig("UseHandSwitchControlReset"));
	return status != 0;
}

DWORD ConfigurerMotion::GetTubeHeightHighLandmarkAD()
{
	return (DWORD)atoi((const char *)ConfigurationManager::Instance()->GetConfigTubeVertical("TubeHeightHighLandmarkAD"));
}

DWORD ConfigurerMotion::GetTubeHeightLowLandmarkAD()
{
	return (DWORD)atoi((const char *)ConfigurationManager::Instance()->GetConfigTubeVertical("TubeHeightLowLandmarkAD"));
}

DWORD ConfigurerMotion::GetTubeAngleHighLandmarkAD()
{
	return (DWORD)atoi((const char *)ConfigurationManager::Instance()->GetConfigTubeRotation("TubeAngleHighLandmarkAD"));
}

DWORD ConfigurerMotion::GetTubeAngleLowLandmarkAD()
{
	return (DWORD)atoi((const char *)ConfigurationManager::Instance()->GetConfigTubeRotation("TubeAngleLowLandmarkAD"));
}

float ConfigurerMotion::GetTubeAngleLowLandmarkAngle()
{
	return (float)atof((const char *)ConfigurationManager::Instance()->GetConfigTubeRotation("AbsoluteValueAtTubeAngleLowLandmark"));
}

float ConfigurerMotion::GetTubeAngleHighLandmarkAngle()
{
	return (float)atof((const char *)ConfigurationManager::Instance()->GetConfigTubeRotation("AbsoluteValueAtTubeAngleHighLandmark"));
}

float ConfigurerMotion::GetTubeHeightLowLandmarkHeight()
{
	return (float)atof((const char *)ConfigurationManager::Instance()->GetConfigTubeVertical("AbsoluteValueAtTubeHeightLowLandmark"));
}

float ConfigurerMotion::GetTubeHeightHighLandmarkHeight()
{
	return (float)atof((const char *)ConfigurationManager::Instance()->GetConfigTubeVertical("AbsoluteValueAtTubeHeightHighLandmark"));
}

int ConfigurerMotion::GetFilterTimeHandSwitchDISignal()
{
	int filterTime = (int)atoi((const char *)ConfigurationManager::Instance()->GetMachineryConfig("HandSwitchDISignalFilterTime"));

	return filterTime;
}

int ConfigurerMotion::GetFilterTimeLimitSwitchDISignal()
{
	int filterTime = (int)atoi((const char *)ConfigurationManager::Instance()->GetMachineryConfig("LimitSwitchDISignalFilterTime"));

	return filterTime;
}

int ConfigurerMotion::GetFilterTimeMotorBrake()
{
	int filterTime = (int)atoi((const char*)ConfigurationManager::Instance()->GetMachineryConfig("MotorBrakeFilterTime"));

	return filterTime;
}

BOOL ConfigurerMotion::GetSingleRADConfigs(ResDataObject &parms)
{
	return TRUE;
}

//ALL IN STR FORMAT
//TomoSID->TOMO 采集的SID
//
//TomoAcceleratingDistance->由静止到匀速的加速距离
//
//TomoDeceleratingDistance->由匀速到静止的减速距离
//
//TomoAlignmentDistance->对准阶段距离
//
//TomoResetDistance->复位阶段距离
//
//TomoRotateDirection->Tomo 运动球管旋转方向[=0 //逆时针，=1 //顺时针]
//TomoGeometry-> Tomo 采集的几何模型
BOOL ConfigurerMotion::GetTomoConfigs(ResDataObject &parms)
{
	parms.clear();
	
	return ConfigurationManager::Instance()->GetAllTomoConfigs(parms);
}

BOOL ConfigurerMotion::GetModelConfigs(ResDataObject &parms)
{
	parms.clear();
	return ConfigurationManager::Instance()->GetAllTomoConfigs(parms);
}

//ALL IN STR FORMAT
//滤波时间->SignalFilterTime
//球管高度轴移动速度->MotionSpeed
//
//球管旋转速度->
//
//TubeAnglePeriodP0->周期
//
//TubeAnglePeriodP1->有效周期
//
//球管高度轴上的正方向
//
//TubeHeightAxisPositiveDirection[= 1 //向下为正][=0 //向上为正]
//
//球管角度轴上的正方向
//
//TubeRotateAxisPositiveDirection[=1 //逆时针为正][=0 //顺时针为正]
//
//RAD 曝光角度
//
//TubeAngleOfRAD
//
//ResetRotatePeriod->reset 时球管旋转的工作周期
//
//ResetRotateEffectPeriod->reset 时球管旋转的有效工作周期
//
//ResetHeightPeriod->reset 时球管高度移动的工作周期
//
//ResetHeightEffectPeriod->reset 时球管高度移动的有效工作周期
//
//复位定位点角度方向->TubeRotateLandmarkDirection[=1 //逆时针终点][=0 //顺时针终点]
//
//复位定位点高度方向->TubeHeightLandmarkDirection[=1 //下行终点][=0 //上行终点]
//
//
//
//球管复位角度->TubeRotateResetAngle
//
//启用高度编码器触发曝光同步->UseHeightTriggerSyncBox
//
//启用高度编码器触发旋转同步->UseHeightTriggerAngleRotation
//探测器至床台的距离->DetectorToTableDistance
//DistanceInOneCircleOfTubeAngleMotor->球管角度控制电机旋转一周对应的球管转过的角度数(°)
//
//DistanceInOneCircleOfTubeHeightMotor->球管高度控制电机旋转一周对应的球管移动的距离(m)
//
//PulseInOneCircleOfTubeAngleMotor->球管角度控制电机旋转一周对应的脉冲数
//
//PulseInOneCircleOfTubeHeightMotor->球管高度控制电机旋转一周对应的脉冲数
//EncoderValueInOneCircleOfTubeAngleMotor->球管角度控制电机旋转一周对应的编码器读数的偏移量
//
//EncoderValueInOneCircleOfTubeHeightMotor->球管角度控制电机旋转一周对应的编码器读数的偏移量
//
//EncoderValueAtTubeAngleOrigin->球管角度处于系统原点时的编码器读数
//
//EncoderValueAtTubeHeightOrigin->球管高度处于系统原点时的编码器读数
BOOL ConfigurerMotion::GetMachineryConfigs(ResDataObject &parms)
{
	parms.clear();

	return ConfigurationManager::Instance()->GetAllMachineryConfigs(parms);
}

float ConfigurerMotion::GetTomoSID()
{
	return (float)atof((const char *)ConfigurationManager::Instance()->GetTomoConfig("TomoSID")); 
}

float ConfigurerMotion::GetTomoTID()
{
	return (float)atof((const char *)ConfigurationManager::Instance()->GetMachineryConfig("DetectorToTableDistance"));
}

float ConfigurerMotion::GetTomoSID_Wall()
{
	return (float)atof((const char*)ConfigurationManager::Instance()->GetTomoConfig("TomoSID_Wall"));
}

float ConfigurerMotion::GetTomoTID_Wall()
{
	return (float)atof((const char*)ConfigurationManager::Instance()->GetMachineryConfig("DetectorToTableDistance_Wall"));
}

float ConfigurerMotion::GetTomoSID_Table()
{
	return (float)atof((const char*)ConfigurationManager::Instance()->GetTomoConfig("TomoSID_Table"));
}

float ConfigurerMotion::GetTomoTID_Table()
{
	return (float)atof((const char*)ConfigurationManager::Instance()->GetMachineryConfig("DetectorToTableDistance_Table"));
}

float ConfigurerMotion::GetMotionToleranceLine()
{
	float tolerance = (float)atof((const char*)ConfigurationManager::Instance()->GetMachineryConfig("MotionToleranceLine"));
	if (tolerance > 0.0001 && tolerance < 0.01)//误差设置在0.1mm到1cm之间
	{
		return tolerance;
	}
	else
	{
		return 0.002;//误差默认为2mm
	}
}

std::string ConfigurerMotion::GetTomoGeometry()
{
	return (const char *)ConfigurationManager::Instance()->GetTomoConfig("TomoGeometry");
}

float ConfigurerMotion::GetEncoderValueInOneCircleOfTubeAngleMotor()
{
	return (float)atof((const char *)ConfigurationManager::Instance()->GetConfigTubeRotation("EncoderValueInOneCircleOfTubeAngleMotor"));
}

float ConfigurerMotion::GetAbsoluteValueAtTubeAngleOrigin()
{
	return (float)atof((const char *)ConfigurationManager::Instance()->GetConfigTubeRotation("AbsoluteValueAtTubeAngleOrigin"));
}

float ConfigurerMotion::GetDistanceInOneCircleOfTubeHeightMotor()
{
	return (float)atof((const char *)ConfigurationManager::Instance()->GetConfigTubeVertical("DistanceInOneCircleOfTubeHeightMotor"));
}

float ConfigurerMotion::GetEncoderValueInOneCircleOfTubeHeightMotor()
{
	return (float)atof((const char *)ConfigurationManager::Instance()->GetConfigTubeVertical("EncoderValueInOneCircleOfTubeHeightMotor"));
}

float ConfigurerMotion::GetAbsoluteValueAtTubeHeightOrigin()
{
	return (float)atof((const char *)ConfigurationManager::Instance()->GetConfigTubeVertical("AbsoluteValueAtTubeHeightOrigin"));
}

DWORD ConfigurerMotion::GetPulseInOneCircleOfTubeHeightMotor()
{
	return (DWORD)atoi((const char *)ConfigurationManager::Instance()->GetConfigTubeVertical("PulseInOneCircleOfTubeHeightMotor"));
}

float ConfigurerMotion::GetDistanceInOneCircleOfTubeAngleMotor()
{
	return (float)atof((const char *)ConfigurationManager::Instance()->GetConfigTubeRotation("DistanceInOneCircleOfTubeAngleMotor"));
}

DWORD ConfigurerMotion::GetPulseInOneCircleOfTubeAngleMotor()
{
	return (DWORD)atoi((const char *)ConfigurationManager::Instance()->GetConfigTubeRotation("PulseInOneCircleOfTubeAngleMotor"));
}

int ConfigurerMotion::GetSoftwareChainInterfaceATriggerLevel()
{
	return atoi((const char *)ConfigurationManager::Instance()->GetMachineryConfig("SoftwareChainInterfaceATriggerLevel"));
}

int ConfigurerMotion::GetSoftwareChainInterfaceBTriggerLevel()
{
	return atoi((const char *)ConfigurationManager::Instance()->GetMachineryConfig("SoftwareChainInterfaceBTriggerLevel"));
}

float ConfigurerMotion::GetPulseDutyCycleOfTubeHeightMotor()
{
	return (float)atof((const char *)ConfigurationManager::Instance()->GetConfigTubeVertical("PulseDutyCycleOfTubeHeightMotor"));
}

float ConfigurerMotion::GetPulseDutyCycleOfTubeAngleMoror()
{
	return (float)atof((const char *)ConfigurationManager::Instance()->GetConfigTubeRotation("PulseDutyCycleOfTubeAngleMotor"));
}

BOOL ConfigurerMotion::GetUseSwingScanning()
{
	auto status = atoi((const char *)ConfigurationManager::Instance()->GetMachineryConfig("UseCArmRotationScanning"));
	return status != 0;
}

DWORD ConfigurerMotion::GetPulseInOneCircleOfTubeHorizontalMotor()
{
	return (DWORD)atoi((const char*)ConfigurationManager::Instance()->GetConfigTubeHorizontal("PulseInOneCircleOfTubeHorizontalMotor"));
}

float ConfigurerMotion::GetPulseDutyCycleOfTubeHorizontalMoror()
{
	return (float)atof((const char*)ConfigurationManager::Instance()->GetConfigTubeHorizontal("PulseDutyCycleOfTubeHorizontalMotor"));
}

float ConfigurerMotion::GetDistanceInOneCircleOfTubeHorizontalMotor()
{
	return (float)atof((const char*)ConfigurationManager::Instance()->GetConfigTubeHorizontal("DistanceInOneCircleOfTubeHorizontalMotor"));
}

float ConfigurerMotion::GetEncoderValueInOneCircleOfTubeHorizontalMotor()
{
	return (float)atof((const char*)ConfigurationManager::Instance()->GetConfigTubeHorizontal("EncoderValueInOneCircleOfTubeHorizontalMotor"));
}

float ConfigurerMotion::GetAbsoluteValueAtTubeHorizontalOrigin()
{
	return (float)atof((const char*)ConfigurationManager::Instance()->GetConfigTubeHorizontal("AbsoluteValueAtTubeHorizontalOrigin"));
}

float ConfigurerMotion::GetTubeHorizontalLeftLandmark()
{
	return (float)atof((const char*)ConfigurationManager::Instance()->GetConfigTubeHorizontal("AbsoluteValueAtTubeHorizontalLeftLandmark"));
}

float ConfigurerMotion::GetTubeHorizontalRightLandmark()
{
	return (float)atof((const char*)ConfigurationManager::Instance()->GetConfigTubeHorizontal("AbsoluteValueAtTubeHorizontalRightLandmark"));
}

float ConfigurerMotion::GetTubeHeightLowPositionofReset()
{
	return (float)atof((const char*)ConfigurationManager::Instance()->GetConfigTubeHorizontal("AbsoluteValueAtTubeHeightLowPositionofReset"));
}

BOOL ConfigurerMotion::GetUseTubeHorizontalADLandmark()
{
	auto status = atoi((const char*)ConfigurationManager::Instance()->GetConfigTubeHorizontal("UseTubeHorizontalADLandmark"));
	return status != 0;
}


int ConfigurerMotion::GetTubeRotateResetPeriod()
{
	return atoi((const char*)ConfigurationManager::Instance()->GetConfigTubeRotation("ResetRotatePeriod"));
}

int ConfigurerMotion::GetTubeRotateNormalPeriod()
{
	return atoi((const char*)ConfigurationManager::Instance()->GetConfigTubeRotation("TubeAnglePeriodP0"));
}

int ConfigurerMotion::GetTubeRotateLandmarkDirection()
{
	return atoi((const char*)ConfigurationManager::Instance()->GetConfigTubeRotation("TubeRotateLandmarkDirection"));
}

int ConfigurerMotion::GetTubeRotateAxisPositiveDirection()
{
	return atoi((const char*)ConfigurationManager::Instance()->GetConfigTubeRotation("TubeRotateAxisPositiveDirection"));
}

float ConfigurerMotion::GetTubeRotateResetAngle()
{
	return atof((const char*)ConfigurationManager::Instance()->GetConfigTubeRotation("TubeRotateResetAngle"));
}

int ConfigurerMotion::GetTubeHeightResetPeriod()
{
	return atoi((const char*)ConfigurationManager::Instance()->GetConfigTubeVertical("ResetHeightPeriod"));
}

int ConfigurerMotion::GetTubeHeightNormalPeriod()
{
	return atoi((const char*)ConfigurationManager::Instance()->GetConfigTubeVertical("NormalHeightPeriod"));
}

int ConfigurerMotion::GetTubeHeightLandmarkDirection()
{
	return atoi((const char*)ConfigurationManager::Instance()->GetConfigTubeVertical("TubeHeightLandmarkDirection"));
}

int ConfigurerMotion::GetTubeHeightAxisPositiveDirection()
{
	return atoi((const char*)ConfigurationManager::Instance()->GetConfigTubeVertical("TubeHeightAxisPositiveDirection"));
}

int ConfigurerMotion::GetTubeHorizontalResetPeriod()
{
	return atoi((const char*)ConfigurationManager::Instance()->GetConfigTubeHorizontal("ResetHorizontalPeriod"));
}

int ConfigurerMotion::GetTubeHorizontalLandmarkDirection()
{
	return atoi((const char*)ConfigurationManager::Instance()->GetConfigTubeHorizontal("TubeHorizontalLandmarkDirection"));
}

int ConfigurerMotion::GetTubeHorizontalAxisPositiveDirection()
{
	return atoi((const char*)ConfigurationManager::Instance()->GetConfigTubeHorizontal("TubeHorizontalAxisPositiveDirection"));
}

int ConfigurerMotion::GetTubeHorizontalNormalPeriod()
{
	return atoi((const char*)ConfigurationManager::Instance()->GetConfigTubeHorizontal("NormalHorizontalPeriod"));
}

float ConfigurerMotion::GetTubeHeightLowLandmarkPos()
{
	return atof((const char*)ConfigurationManager::Instance()->GetConfigTubeVertical("TubeHeightLowLandmarkPos"));
}

float ConfigurerMotion::GetTubeAngleLowLandmarkPos()
{
	return atof((const char*)ConfigurationManager::Instance()->GetConfigTubeRotation("TubeAngleLowLandmarkPos"));
}

float ConfigurerMotion::GetTubeHorizontalLowLandmarkPos()
{
	return atof((const char*)ConfigurationManager::Instance()->GetConfigTubeHorizontal("TubeHorizontalLeftLandmarkPos"));
}

void ConfigurerMotion::UpdateResetLowPositionTubleAngle(string lowposition)
{
	ResDataObject param;
	param.add("TubeAngleLowLandmarkPos", lowposition.c_str());

	ConfigurationManager::Instance()->UpdateMotionConfigTubeAngle("TubeAngleLowLandmarkPos", param);
}

void ConfigurerMotion::UpdateResetEncoderZeroPositionTubeAngle(string encoderzeroposition)
{
	ResDataObject param;
	param.add("AbsoluteValueAtTubeAngleOrigin", encoderzeroposition.c_str());

	ConfigurationManager::Instance()->UpdateMotionConfigTubeAngle("AbsoluteValueAtTubeAngleOrigin", param);
}

void ConfigurerMotion::UpdateResetLowPositionTubleHeight(string lowposition)
{
	ResDataObject param;
	param.add("TubeHeightLowLandmarkPos", lowposition.c_str());

	ConfigurationManager::Instance()->UpdateMotionConfigTubeHeight("TubeHeightLowLandmarkPos", param);
}

void ConfigurerMotion::UpdateResetEncoderZeroPositionTubeHeight(string encoderzeroposition)
{
	ResDataObject param;
	param.add("AbsoluteValueAtTubeHeightOrigin", encoderzeroposition.c_str());

	ConfigurationManager::Instance()->UpdateMotionConfigTubeHeight("AbsoluteValueAtTubeHeightOrigin", param);
}

void ConfigurerMotion::UpdateResetLowPositionTubleHorizontal(string lowposition)
{
	ResDataObject param;
	param.add("TubeHorizontalLeftLandmarkPos", lowposition.c_str());

	ConfigurationManager::Instance()->UpdateMotionConfigTubeHorizontal("TubeHorizontalLeftLandmarkPos", param);
}

void ConfigurerMotion::UpdateResetEncoderZeroPositionTubeHorizontal(string encoderzeroposition)
{
	ResDataObject param;
	param.add("AbsoluteValueAtTubeHorizontalOrigin", encoderzeroposition.c_str());

	ConfigurationManager::Instance()->UpdateMotionConfigTubeHorizontal("AbsoluteValueAtTubeHorizontalOrigin", param);
}