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

#pragma once
#include "IMotionModel.h"

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

	class RADMotionModel : public IMotionModel
	{
	public:
		RADMotionModel();
		~RADMotionModel();
	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 OnStageClearParams();
		void OnStageStopMove();
		void OnStageCenterAdjust();
		void AlignTubeHeightToDetector();
		void RotateTubeToExposure();
		float GetExposureAngle();
		int  JudgeDirectionInTubeHeightAxis(float current, float target);
		int  JudgeDirectionInTubeAngleAxis(float current, float target);
		void MoveTubeHeight(int direction, float offset);
		void RotateTubeAngle(int direction, float offset);
	private:
		std::string m_StageName;
		RADMotionStageArgs *m_stageArgs;
		IPositionManager *m_coordinates;
		ITubeAngleController *m_motorTubeAngle;
		ITubeHeightController *m_motorTubeHeight;
		ISensorADController *m_adDetectorHeight;
		ISensorEncoderController *m_encoderTubeAngle;
		ISensorEncoderController *m_encoderTubeHeight;

		ResDataObject m_MachineryParams;
		ResDataObject m_technicalParams;
	};
}