#ifndef GUGAOMOTOR_H
#define GUGAOMOTOR_H
#include"../single_card/gts.h"
#include<qstring.h>
#include<qdebug.h>
#include<QPushButton>
#include <QObject>

enum Axle            //电机轴号
{
    Axle1=1,
    Axle2=2,
    Axle3=3,
    Axle4=4,
    Axle5=5,
    Axle6=6,
    Axle7=7,
    Axle8=8
};

struct Position
{
    Position():Xpos(0),Ypos(0),Zpos(0),Upos(0)      {}
    double Xpos;
    double Ypos;
    double Zpos;
    double Upos;
};

typedef struct Point
{
    Point():crd(1),Fifo(0), Radius(200.0),Speed(10.0),
        ASpeed(1.5), EndSpeed(0),CircleDir(0),
        double1(0.0),double2(0.0),bool1(false),bool2(false),
        int1(0),int2(0),str1(""),str2("")   {}
    short  crd;      //坐标系
    short  Fifo;     //缓存区
//    double Xpos;
//    double Ypos;
//    double Zpos;
//    double Rpos;
    Position Pos;
    double Radius;   //半径
    double Speed;
    double ASpeed;
    double EndSpeed;
    short CircleDir;  //方向； 逆时针为 1, 顺时针为 0

    bool bool1;
    bool bool2;
    int int1;
    int int2;
    double double1;
    double double2;
    QString str1;
    QString str2;

} Point;

struct HomePara
{
    HomePara():HomeSpeed(200),SEARCH_HOME(200000),HOME_OFFSET(2000),
        SEARCH_INDEX(20000),INDEX_OFFSET(2000)    {}
    int Direction[4];     //0:负方向，1:正方向,2:屏蔽该轴
    double HomeSpeed;     // 回零速度
    long SEARCH_HOME;     // 定义home回零搜索距离
    long HOME_OFFSET;     // 定义到home捕获位置的偏移量
    long SEARCH_INDEX;    // 定义index回零搜索距离
    long INDEX_OFFSET;    // 定义到index捕获位置的偏移量
};

struct MovoPara
{
    MovoPara():Power(false),Ratio(4)
    {
        for(int i=0;i<4;i++)
        {
            ManualSpeed[i]=10;
            AutoSpeed[i]=20;
        }
    }
    bool Power;  //高低速模式,true:low; false:high
    int Ratio;   //高低速比率
    double ManualSpeed[4];  //指高速
    double AutoSpeed[4];     //指高速

};

struct MotorPara
{
    MotorPara()
    {
        MotorTrapPrm.acc=0.25;
        MotorTrapPrm.dec=0.125;
        MotorTrapPrm.smoothTime=25;
        MotorTrapPrm.velStart=1;
    }

//    int MoveMode;         //0:relative,   1:abstive
    TrapPrm MotorTrapPrm;  //点位运动模式参数
    HomePara m_HomePara;
    MovoPara  m_MovoPara;
};

class GuGaoMotor : public QObject
{
    Q_OBJECT

public:

    explicit GuGaoMotor(QObject *parent = 0);
    ~GuGaoMotor();

     void CommandHandler(QString CmdStr, short CmdResult);//命令执行状态显示
     int LoadSetting(char *CfgStr); //加载配置和上伺服，CfgStr：配置文件的地址
     int Home(int Axle=1);          //sinle back to zero
     int HomeIndex(int Axle=1);     //single back to zere with "z" signal
     int SetCraPrm(TCrdPrm CrdPrm); //建立二维坐标系
     int MoveRelative(long position,double speed,int Axle=1);//单轴相对运动
     int MoveABS(long position,double speed,int Axle=1);     //单轴绝对运动
     int MoveJop(double speed,QPushButton *btn ,int Axle=1 );//单轴JOP,  btn is from ui;
     int MoveLine(Point m_Point);                            //XY直线插补
     int MoveArcR(Point m_Point);                            //半径描述圆插补
     int MoveArcC(Point m_Point ,double X_center,double Y_center);  //圆心描述圆插补

     Position GetAxlePos();      //获取轴位置坐标

signals:
     void SigCommandHandler(QString);

};
#endif // GUGAOMOTOR_H