M_MOTHW.H

gehe zur Dokumentation dieser Datei

// File m_mothw.h
// (C) 1993,1994 by Heiko Damerow MPG AG "Roentgenbeugung"
#ifndef __M_MOTHW_H
#define __M_MOTHW_H

#include "utils\u_utils.h"
#include "motrstrg\motorcontroller.h"

//--||--\\--||--//--||--\\--||--//--||--\\--||--//--||--\\--||--//--||--\\--||--

union tpos
{
        char byte[ 4 ];
        long pos;
};

class TDC_Drive : public TMotor
{
public:
        TDC_Drive( void );
        // Funktionen, die untergeordnete Pendants aufrufen
        BOOL GetPosition( BOOL );
        long GetFailure( void );
        BOOL MoveByPosition( long );
        BOOL MoveToPosition( long );
        virtual BOOL SetMoment( float )
        {
                return TRUE;
        };
        virtual float GetMoment( void )
        {
                return 1.0;
        };
        BOOL SetSpeed( double );
        double GetSpeed( void );
        virtual int SaveSettings( BOOL );
        BOOL PushSettings( void );
        BOOL PopSettings( void );
        virtual BOOL SetVelocity( DWORD )
        {
                return TRUE;
        };
        virtual BOOL SetAcceleration( DWORD )
        {
                return TRUE;
        };
        virtual DWORD GetVelocity( void )
        {
                return 1;
        };
        virtual DWORD GetAcceleration( void )
        {
                return 1;
        };
protected:
        virtual int Initialize( void );
        virtual BOOL ActivateDrive( void )
        {
                return FALSE;
        };
        virtual BOOL Reset( void )
        {
                return FALSE;
        };
        virtual BOOL ActivateFilterParameters( void )
        {
                return FALSE;
        };
        WORD wDeathBand;
        WORD wDynamicFailure;
        WORD wDeccelerationPoint;
        WORD wMaxTorque;
        // Spezifische Funktionen
        virtual BOOL CheckBoardOk( void )
        {
                return FALSE;
        };
        virtual BOOL IsMoveFinish( void )
        {
                return FALSE;
        };
        virtual BOOL IsLimitHit( void )
        {
                return FALSE;
        };
        virtual BOOL _GetPosition( long * )
        {
                return FALSE;
        };
        virtual BOOL _GetFailure( long * )
        {
                return FALSE;
        };
        virtual BOOL MoveRelative( long )
        {
                return FALSE;
        };
        virtual BOOL MoveAbsolute( long )
        {
                return FALSE;
        };
private:
        int nMaxError;
};

class TC_812 : public TDC_Drive
{
        friend class TOptimizeDC_812Dlg;

public:
        TC_812( void );

        virtual int ExecuteCmd( char* )
        {
                return R_OK;
        };
        void OptimizingDlg( void );

protected:
        int SaveSettings( BOOL );
        virtual int Reset( void );
        virtual BOOL CheckBoardOk( void )
        {
                return TRUE;
        };
        virtual BOOL SetHome( void );
        virtual BOOL _GetPosition( long* );
        virtual BOOL _GetFailure( long* );
        BOOL ActivateDrive( void );
        BOOL ActivateFilterParameters( void );
        BOOL SetMoment( float );
        float GetMoment( void );
        virtual BOOL IsMoveFinish( void );
        BOOL SetLine( int, BOOL );
        BOOL IsLimitHit( void );
        BOOL IsIndexArrived( void );
        BOOL StartToIndex( long& );
        BOOL StopDrive( BOOL ); // Kullmann, Reinecker (08.08.02) Parameter geändert int -> BOOL
        BOOL MoveRelative( long );
        BOOL MoveAbsolute( long );
        WORD GetStatus( void );
        int nWaitTicks;
        WORD wTorque;
        WORD wStaticGain;
        WORD wDynamicGain;
        int nOnBoardId;

private:
        BOOL SetLimit( DWORD );
        BOOL SetVelocity( DWORD );
        DWORD GetVelocity( void );
        BOOL SetStaticGain( WORD );
        WORD GetStaticGain( void );
        BOOL SetDynamicGain( WORD );
        WORD GetDynamicGain( void );
        BOOL SetTorque( WORD );
        WORD GetTorque( void );
        BOOL SetAcceleration( DWORD );
        DWORD GetAcceleration( void );
};


class TC_812ISA : public TC_812
{
public:
        TC_812ISA( void );

protected:
        int ExecuteCmd( char* );
        BOOL CheckBoardOk( void );
        BOOL SetHome( void );
        void StartCheckScan( void );
        // the following functions can used the direct access
        BOOL IsMoveFinish( void );
        BOOL _GetPosition( long* );
        BOOL _GetFailure( long* );

private:
        int PutChar( const char );
        char GetChar( void );
        DWORD dwBaseAddr;

        TC_812Controller* Hardware;
};

class TC_832 : public TDC_Drive
{
        friend class TOptimizeDC_832Dlg;

public:
        TC_832( void );

        BOOL StopLimitWatch( void );
        BOOL StartLimitWatch( void );
        void ( *lpfnLimitWatch ) ( UINT, UINT, DWORD, DWORD, DWORD );
        void OptimizingDlg( void );

protected:
        int SaveSettings( BOOL );
        BOOL ActivateFilterParameters( void );
        BOOL CheckBoardOk( void );
        BOOL ActivateDrive( void );
        void StartCheckScan( void );
        int Reset( void );
        WORD wKI;    //  IntegralGain
        WORD wKL;    //  IntegralLimit
        WORD wKP;    //  StaticGain
        WORD wKD;    //  DynamicGain

private:
        long Drive628( BYTE, WORD, long );
        int ExecuteCmd( LPSTR );
        BOOL IsMoveFinish( void );
        BOOL IsLimitHit( void );
        BOOL IsIndexArrived( void );
        BOOL StartToIndex( long & );
        BOOL StopDrive( BOOL ); // Kullmann, Reinecker (08.08.02) Parameter geändert int -> BOOL
        BOOL SetLimit( DWORD );
        BOOL SetVelocity( DWORD );
        DWORD GetVelocity( void );
        BOOL SetHome( void );
        BOOL SetAcceleration( DWORD );
        DWORD GetAcceleration( void );
        WORD GetStatus( void );
        BOOL _GetPosition( long * );
        BOOL _GetFailure( long * );
        BOOL MoveRelative( long );
        BOOL MoveAbsolute( long );
        
        WORD wBaseAddr;
        int nOnBoardId;
        BYTE cConfig;
        WORD wSample;
        
        TC_832Controller* Hardware;
        DWORD ControllerIndex;
        UINT nEvent;
        const WORD CmdRegister;
        const WORD DataRegister;

        WORD baddr;
        WORD raddr;
};

class TPosControlDlg : public TModalDlg
{
public:
        TPosControlDlg( );

        // ANFANG Kullmann+Reinecker (12.03.2004)
        typedef enum EPosType {eMin, ePos, eMax};
        int ScrollbarCalculate( TMotor *act, EPosType aType );  //Neu : Kullmann, Reinecker (14.11.02) const beim Parameter entfernt, sonst const-member-functions im Motor nötig       
        /*int GetBarRange( TMotor * ); 
        int GetBarPos( TMotor * );   */
        // ENDE Kullmann+Reinecker (12.03.2004)

        BOOL HScrollBar( WPARAM, LPARAM );
        BOOL Dlg_OnInit( HWND, HWND, LPARAM );
        void Dlg_OnCommand( HWND, int, HWND, UINT );
        void Dlg_OnTimer( HWND, UINT );
        void LeaveDialog( void );

private:
        long NewPosition;
        HWND BarHandle;
        HWND hMotorList;
        BOOL bMoveActive;
        LPMotor Motor;
};

class TMotorParamDlg : public TModalDlg
{
public:
        TMotorParamDlg( void );

        BOOL Dlg_OnInit( HWND, HWND, LPARAM );
        void Dlg_OnCommand( HWND, int, HWND, UINT );
        BOOL CanClose( void );

private:
        LPMotor Motor;
        BOOL Flag;
        float SpeedScale;
        HWND hMotorList;
};

class TCalibrateDlg : public TModalDlg
{
public:
        TCalibrateDlg( int );
        virtual  ~TCalibrateDlg( void );

private:
        BOOL Dlg_OnInit( HWND, HWND, LPARAM );
        void Dlg_OnCommand( HWND, int, HWND, UINT );
        void Dlg_OnTimer( HWND, UINT );
        BOOL CanClose( void );
        void LeaveDialog( void );
        HWND hMotorList;
        LPMotor Motor;
        BOOL nTask; // Kullmann, Reinecker (08.08.02) Parameter geändert int -> BOOL
        long* lOldPos;
        BOOL* bIndexPosReached;
        BOOL* bZeroPosReached;
        BOOL* bTargetPosReached;
        BOOL bValidCalibrationData;
        BOOL bZeroShouldSet;
        BOOL bAllMotors;
        BOOL bHoldPosition;
};

class TOptimizeDC_832Dlg : public TModalDlg
{
public:
        TOptimizeDC_832Dlg( void );

private:
        BOOL CanClose( void );
        void Dlg_OnCommand( HWND, int, HWND, UINT );
        BOOL Dlg_OnInit( HWND, HWND, LPARAM );
        void LeaveDialog( void );
        TC_832* Drive;
        DWORD old_vel, old_accel;
        WORD old_kd, old_kp, old_ki, old_kl;
        WORD old_poswidth;
        BOOL bCancel;
};

class TOptimizeDC_812Dlg : public TModalDlg
{
public:
        TOptimizeDC_812Dlg( void );

private:
        BOOL CanClose( void );
        void Dlg_OnCommand( HWND, int, HWND, UINT );
        BOOL Dlg_OnInit( HWND, HWND, LPARAM );
        void LeaveDialog( void );
        TC_812 *Drive;
        DWORD old_vel, old_accel;
        WORD old_gain, old_dgain, old_torque;
        WORD old_poswidth;
        BOOL bCancel;
};

#endif 
// _M_MOTHW_H
// __LastLine__

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