PhysicalDevice/Machine/MachineryECOM/Trunk/DIOS.Dev.Machinery.Motion.Driver/DIOS.Dev.Machinery.Client/deliver/include/diosbox/CArmGeneralModel.h

#pragma once
#include "IMotionModel.h"

namespace DiosCtrlBox
{
	class CArmGeneralMotionStageArgs;
	class ICircularController;
	class ISwingController;
	class ISensorEncoderController;
	class IPositionManager;

	class CArmGeneralModel : public IMotionModel
	{
	public:
		CArmGeneralModel();
		~CArmGeneralModel();
	public:
		virtual void ChangeStage(const std::string &stageName) override;
		virtual std::string GetStageName() override;
		virtual IMotionStageArgs *GetStageArgs() override;
	public:
		virtual void Initialize(IMachineryManager *machineryManager, IPositionManager *coordinates) override;
		virtual void LoadMachineryParams(ResDataObject &params) override;
		virtual void LoadModelParams(ResDataObject &params) override;
		virtual void SetTechnicalParams(ResDataObject &params) override;
		virtual void OnFeedbackMotionParams(ResDataObject &params) override;
		virtual BOOL GetMotionParams(ResDataObject &params) override;
	private:
		void OnMotionStage(const std::string &name);
		void OnMotionStageMoveTubeCircular();
		void OnMotionStageMoveTubeSwing();
		void OnMotionStageGetTubeCircularEncoder();
		void OnMotionStageGetTubeSwingEncoder();
		void OnMotionStageActiveTubeSwingZAxis();
		void OnMotionStageCancleTubeSwingZAxis();
		void OnMotionStageActiveTubeCircularZAxis();
		void OnMotionStageCancleTubeCircularZAxis();
		void OnMotionStageStopMechMoving();
		void OnMotionStageMoveTubeSwingAsPhysical();
		void OnMotionStageMoveTubeCircularAsPhysical();
	private:
		std::string m_StageName;
		CArmGeneralMotionStageArgs *m_stageArgs;
		IPositionManager *m_coordinates;
		ICircularController *m_circular;
		ISwingController *m_swing;
		ISensorEncoderController *m_circularencoder;
		ISensorEncoderController *m_swingencoder;
		DWORD m_tubeCircularMotionPeriod;
		DWORD m_tubeSwingMotionPeriod;
	};

}