lwk
/
PhysicalDevice


			
				
					
						
						
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							#pragma once
#include "IMotionModel.h"

namespace DiosCtrlBox
{
	class ResetMotionStageArgs;
	class ITubeAngleController;
	class ITubeHeightController;
	class ISensorADController;
	class ISensorEncoderController;
	class ILandmarkController;

	class ResetMotionModel : public IMotionModel
	{
	public:
		ResetMotionModel();
		~ResetMotionModel();
	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 OnStageTubeAngleMoveToLandmark();
		void OnStageTubeHeightMoveToLandmark();
		void OnStageTubeAngleFindLandmark();
		void OnStageTubeHeightFindLandmark();
		void OnStageTubeAngleStopAtLandmark();
		void OnStageTubeHeightStopAtLandmark();
		void OnStageTubeAngleGoOutOfLowLandmark();
		void OnStageTubeAngleGoOutOfHighLandmark();
		void OnStageTubeHeightGoOutOfLowLandmark();
		void OnStageTubeHeightGoOutOfHighLandmark();
		void OnStageTubeAngleAttachZAxis();
		void OnStageTubeHeightAttachZAxis();
		void OnStageTubeAngleDetachZAxis();
		void OnStageTubeHeightDetachZAxis();
		void OnStageTubeAngleFindZAxis();
		void OnStageTubeHeightFindZAxis();
		void OnStageTubeAngleStopAtZAxis();
		void OnStageTubeHeightStopAtZxis();
		void OnStageTubeAngleFinishReset();
		void OnStageTubeHeightFinishReset();
		void OnStageStopMove();
		int JudgeTubeRotateLandmarkDirection();
		int JudgeTubeHeightLandmarkDirection();
		float GetTubeRotateResetPosition();
		int JudgeRotateDirection(float currentAngle, float targetAngle);
		int JudgeHeightDirection(float currentHeight,float targetHeight);
		int ComputeTubeAngleZToLandmarkRotateDirection();
		int ComputeTubeHeightZToLandmarkMoveDirection();
		BOOL IsTubeAngleAtResetLandmark();
		BOOL IsTubeHeightAtResetLandmark();
	private:
		std::string m_StageName;
		ResetMotionStageArgs *m_stageArgs;
		IPositionManager *m_coordinates;
		ITubeAngleController *m_motorTubeAngle;
		ITubeHeightController *m_motorTubeHeight;
		ISensorADController *m_adDetectorHeight;
		ISensorEncoderController *m_encoderTubeAngle;
		ISensorEncoderController *m_encoderTubeHeight;
		ILandmarkController *m_landmark;
		DWORD m_resetRotatePeriod;
		DWORD m_resetHeightPeriod;
		int m_tubeRotateLandmarkDirection;
		int m_tubeHeightLandmarkDirection;
		float m_tubeRotateResetAngle;
		int m_tubeHeightAxisPositiveDirection;
		int m_tubeRotateAxisPositiveDirection;
	};
}