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

#pragma once
#include "IMotionModel.h"

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

	class SelfTestModel : public IMotionModel
	{
	public:
		SelfTestModel();
		~SelfTestModel();
	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 OnStageAutoSelfTest();
		void OnStageTubeHeightMoveToTarget();
		void OnStageTubeHeightMoveBack();
		void OnStageTubeAngleRotateToTarget();
		void OnStageTubeAngleRotateBack();
		void MoveMech(int dof, float current, float target,int period,float dutyCycle);
		void RotateTubeAngle(float current, float target, int period, float dutyCycle);
		void MoveTubeHeight(float current, float target, int period, float dutyCycle);
		int JudgeDirectionInTubeHeightAxis(float current, float target);
		int JudgeDirectionInTubeAngleAxis(float current, float target);
	private:
		std::string m_StageName;
		SelfTestMotionStageArgs *m_stageArgs;
		IPositionManager *m_coordinates;
		ITubeAngleController *m_tubeAngle;
		ITubeHeightController *m_tubeHeight;
	};
}