PhysicalDevice/Machine/MachineryECOM/Trunk/DIOS.Dev.Machinery.Motion.Driver/DIOS.Dev.Machinery.Driver.ECOM/CARM/CarmImplPositionManager.h

#pragma once
#include "IPositionManager.h"

namespace DIOS::Dev::Detail::MachineryECOM
{
	class ISensorEncoderController;

	class CarmImplPositionManager : public IPositionManager
	{
	public:
		CarmImplPositionManager();
		~CarmImplPositionManager();
	public:
		virtual void  Initialize(IMachineryManager *machmanager) override;

		virtual float GetLandmarkPosition(DOF_MECH dof, LANDMARK_TYPE landmarkType) override;
		virtual float GetCurrentAbsolutePhysical(DOF_MECH dof) override;
		virtual float GetPhysicalPerMotorPulse(DOF_MECH dof) override;
		virtual float GetCurrentPhysical(DOF_MECH dof) override;
		virtual int	  GetCurrentSensorValue(DOF_MECH dof) override;

		virtual float ConvertSensorValue(const std::string &componentName, int sensorValue) override;
		virtual int   ConvertPhysicsValue(const std::string &componentName, float physicsValue) override;
		virtual DWORD ConvertMotorStepValue(const std::string &componentName, float physicsOffset) override;
		virtual DWORD ConvertMotorSpeed(const std::string &componentName, float speed) override;

		virtual void  ResetSystem() override;
		virtual BOOL  IsSystemReady() override;
		virtual int   IsTomoMotionLimitationStatus() override;
		virtual BOOL  IsNeedCenterAdjust() override;
		virtual void  SetNotifyLogicDevice(MachineryECOMDriver* logicdriver) override;
		virtual void  NotifyAlignStatus(BOOL isAligned) override;
		virtual void  NotifySystemIsReady() override;
		virtual void  NotifySystemIsTomoMotionLimitation(int nLimitaionStatus) override;

		virtual void  ResetSystem(const std::string &componentName) override;
		virtual BOOL  IsSystemReady(const std::string &componentName) override;
		virtual void  NotifySystemIsReady(const std::string &componentName) override;
	private:
		BOOL m_isSystemReady;
		MachineryECOMDriver* m_notifyLogicDriver;
		IMachineryManager *m_machineryManager;
		ISensorEncoderController *m_encoderCircular;
		ISensorEncoderController *m_encoderSwing;

		BOOL m_isSystemReadySwing;
		BOOL m_isSystemReadyCircular;
	};
}