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

#pragma once
#include "IMotionModel.h"

namespace DiosCtrlBox
{
	class ResetMotionStageArgs;
	class ICircularController;
	class ISwingController;
	class ISensorEncoderController;
	class ILandmarkController;

	class CArmResetMotionModel : public IMotionModel
	{
	public:
		CArmResetMotionModel();
		~CArmResetMotionModel();
	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 &stageName);
		void OnMotionStageStopMove();
		void OnMotionStageFindSwingLandmark();
		void OnMotionStageFindCircularLandmark();
		void OnMotionStageAttachSwingZAxis();
		void OnMotionStageDetachSwingZAxis();
		void OnMotionStageAttachCircularZAxis();
		void OnMotionStageDetachCircularZAxis();
		void OnMotionStageSwingFinish();
		void OnMotionStageCircularFinish();
		void OnMotionStageSwingStopAtLandmark();
		void OnMotionStageCircularStopAtLandmark();
		BOOL IsTubeSwingAtResetLandmark();
		int  JudgeTubeSwingLandmarkDirection();
		BOOL IsTubeCircularAtResetLandmark();
		int  JudgeTubeCircularLandmarkDirection();
		float GetTubeSwingResetPosition();
		int  JudgeSwingDirection(float current,float target);
		float GetTubeCircularResetPosition();
		int  JudgeCircularDirection(float current, float target);
	private:
		std::string m_StageName;
		ResetMotionStageArgs *m_stageArgs;
		IPositionManager *m_coordinates;
		ICircularController *m_circular;
		ISwingController *m_swing;
		ISensorEncoderController *m_circularencoder;
		ISensorEncoderController *m_swingencoder;
		ILandmarkController *m_landmark;
		DWORD m_resetSwingPeriod;
		DWORD m_resetCircularPeriod;
		int m_tubeSwingLandmarkDirection;
		int m_tubeCircularLandmarkDirection;
		float m_tubeSwingResetAngle;
		float m_tubeCircularResetAngle;
		int m_tubeCircularAxisPositiveDirection;
		int m_tubeSwingAxisPositiveDirection;
	};
}