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

#pragma once
#include "IMotionModel.h"

namespace DiosCtrlBox
{
	class CalibrationStageArgs;
	class ITubeAngleController;
	class ITubeHeightController;
	class ISensorADController;
	class ISensorEncoderController;

	class CalibrationModel : public IMotionModel
	{
	public:
		CalibrationModel();
		~CalibrationModel();

	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 OnStageMoveTubeHeight();
		void OnStageRotateTubeAngle();
		void OnStageGetTubeAngleAD();
		void OnStageGetTubeHeightAD();
		void OnStageGetDetectorHeightAD();
		void OnStageGetTubeAngleEncoder();
		void OnStageGetTubeHeightEncoder();
		void OnStageGetDetectorHeightEncoder();
		void OnStageActiveTubeAngleZAxisClear();
		void OnStageCancelTubeAngleZAxisClear();
		void OnStageActiveTubeHeightZAxisClear();
		void OnStageCancelTubeHeightZAxisClear();
		void OnStageRotateTubeAngleToZAxis();
		void OnStageMoveTubeHeightToZAxis();
		void OnStageStopTubeAngleAtZxis();
		void OnStageStopTubeHeightAtZAxis();
		void OnStageMoveTubeHeightAsPhysical();
		void OnStageRotateTubeAngleAsPhysical();
		void OnStageSwitchSvoStatus();
		void OnStageAutoCalibrationADStart();
		void OnStageAutoCalibrationADNext();
		void OnStageAutoCalibrationADEnd();
		int  GetAD(int dof);
		void MoveMech(int dof,float current, float target);
		void RotateTubeAngle(float current,float target);
		void MoveTubeHeight(float current, float target);
		int JudgeDirectionInTubeHeightAxis(float current, float target);
		int JudgeDirectionInTubeAngleAxis(float current, float target);
	private:
		std::string m_StageName;
		CalibrationStageArgs *m_stageArgs;
		IPositionManager *m_coordinates;
		ITubeAngleController *m_tubeAngle;
		ITubeHeightController *m_tubeHeight;
		ISensorADController *m_tubeHeightAD;
		ISensorADController *m_tubeAngleAD;
		ISensorADController *m_detectorAD;
		ISensorEncoderController *m_tubeHeightEncoder;
		ISensorEncoderController *m_tubeAngleEncoder;
		ISensorEncoderController *m_detectorHeightEncoder;
		int m_tubeHeightMotionPeriod;
		int m_tubeAngleMotionPeriod;
		int m_tubeRotateLandmarkDirection;
		int m_tubeHeightLandmarkDirection;
		int m_tubeHeightAxisPositiveDirection;
		int m_tubeRotateAxisPositiveDirection;
		float m_autoCalADPhysicalEachStep;
	};

}