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

#pragma once
#include "IMotionModel.h"

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

	class ParkingModel : public IMotionModel
	{
	public:
		ParkingModel();
		~ParkingModel();
	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 OnMotionStageParkingHorizontal();
		void OnMotionStageParkingVertical();
		void OnMotionStageParkingTubeAngleLowLimit();
		void OnMotionStageParkingTubeHeightLowLimit();

		void AlignTubeHeightToDetector();
		void RotateTubeToExposure();
		void RotateTubeToVertical();
		void RotateTubeToLowLimit();
		void MoveTubeHeightToLowLimit();
		float GetExposureAngle();
		float GetVerticalAngle();
		int  JudgeDirectionInTubeHeightAxis(float current, float target);
		int  JudgeDirectionInTubeAngleAxis(float current, float target);
		void MoveTubeHeight(int direction, float offset);
		void RotateTubeAngle(int direction, float offset);
		void OnMotionStageStopMove();
	private:
		std::string m_stageName;
		ParkingMotionStageArgs *m_stageArgs;
		IPositionManager *m_coordinates;
		ITubeAngleController *m_motorTubeAngle;
		ITubeHeightController *m_motorTubeHeight;
		ResDataObject m_MachineryParams;
	};
}