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

#pragma once
#include "IPositionManager.h"

namespace DIOS::Dev::Detail::MachineryECOM
{
	class ITubeAngleController;
	class ITubeHeightController;
	class ISensorADController;
	class ISensorEncoderController;

	class ImplPositionManager : public IPositionManager
	{
	public:
		ImplPositionManager();
		~ImplPositionManager();
	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:
		float GetTubeHeightLandmarkPosition(LANDMARK_TYPE landmarkType);
		float GetTubeAngleLandmarkPosition(LANDMARK_TYPE landmarkType);
		float GetCurrentAbsoluteTubeAngle();
		float GetCurrentAbsoluteTubeHeight();
		float GetTubeAnglePerPulse();
		float GetCurrentTubeHeight();
		float GetCurrentTubeAngle();
		float GetDetectorVerticalPos();
		float GetDetectorHorizontalPos();
		int   GetCurrentTubeAngleSensorValue();
		int   GetCurrentEncoderSensorValue(ISensorEncoderController *pSensorEncoder);
		int   GetCurrentDetectorADSensorValue(ISensorADController *pSensorAD);

		
		DWORD DoConvertTubeHeightMotorPulse(float physicsoffset);
		DWORD DoConvertTubeHeightMotorSpeed(float speed);
		float DoConvertTubeHeightEncoder(int  sensorvalue);
		float DoConvertTubeHeightAD(DWORD sensorvalue);
		int   DoConvertTubeHeightToEncoder(float physics);

		DWORD DoConvertTubeAngleMotorPulse(float physicsoffset);
		DWORD DoConvertTubeAngleMotorSpeed(float speed);
		float DoConvertTubeAngleEncoder(int sensorvalue);
		float DoConvertTubeAngleAD(DWORD sensorvalue);
		int   DoConvertTubeAngleToEncoder(float physics);

		DWORD DoConvertTubeHorizontalMotorPulse(float physicsoffset);
		DWORD DoConvertTubeHorizontalMotorSpeed(float speed);
		float DoConvertTubeHorizontalEncoder(int sensorvalue);
		float DoConvertTubeHorizontalAD(DWORD sensorvalue);
		int   DoConvertTubeHorizontalToEncoder(float physics);

		float DoConvertDetectorHeightAD(int  sensorvalue);
		DWORD DoConvertDetectorToAD(float physics);

		float DoConvertDetectorHorizontalAD(DWORD sensorvalue);
		DWORD DoConvertDetectorHorizontalToAD(float physics);

		DWORD DoConvertMotorPulse(float physicsoffset, float physicsinonecircle, DWORD pulseinonecircle);
		DWORD DoConvertSpeed(float speed, float physicsinonecircle, DWORD pulseinonecircle);
		float DoConvertEncoder(int encoder, float physicsinonecircle, float encoderinonecircle, float physicsAtOrigin);
		int   DoConvertPhysicsToEncoder(float physics, float physicsinonecircle, float encoderinonecircle, float physicsAtOrigin);
		void  DigitalTwinRecordConvertParams();

		float GetTubeHorizontalLandmarkPosition(LANDMARK_TYPE landmarkType);
		float GetCurrentAbsoluteTubeHorizontalPos();
		float GetCurrentTubeHorizontalPos();
	private:
		BOOL m_isSystemReady;
		int  m_nTomoMotionLimitationStatus;//0:Õý³£  1:¹ý¸ß   2:¹ýµÍ
		MachineryECOMDriver* m_notifyLogicDriver;
		IMachineryManager *m_machineryManager;
		ITubeAngleController *m_motorTubeAngle;
		ITubeHeightController *m_motorTubeHeight;
		ISensorADController *m_adTubeHeight;
		ISensorADController *m_adTubeAngle;
		ISensorADController *m_adDetectorHeight;
		ISensorEncoderController *m_encoderTubeAngle;
		ISensorEncoderController *m_encoderTubeHeight;

		ISensorADController* m_adTubeHorizontal;
		ISensorEncoderController* m_encoderTubeHorizontal;
		ISensorADController* m_adDetectorHorizontal;
	};
}