#include "Axis.h"
#include "../config/ConfigManager.h"
#include "../global.h"

PLCAxis::PLCAxis(SysParamWrapper* params, StateCtrlWrapper* ctrl)
{
	m_Mold = new AxisT<MainAxisState>();
	m_MoldSlave = new AxisT<SlaveAxisState>();
	m_Clean = new AxisT<MainAxisState>();
	m_CleanSlave = new AxisT<SlaveAxisState>();
	m_Arm = new AxisT<AxisState>();
	m_Load = new AxisT<AxisState>();
	m_Supply = new AxisT<AxisState>();
	m_Ele= new AxisT<MainAxisState>();
	m_EleSlave = new AxisT<SlaveAxisState>();

	AxisConfig* ac = m_Mold->GetConfig();
	ac->m_Speed = params->m_MoldMainManualSpeed;
	ac->m_Acc = params->m_MoldMainManualAcc;
	ac->m_Dec = params->m_MoldMainManualDec;
	ac->m_RefDistance = params->m_MoldMainManualRefDistance;
	ac->m_AbsPos = params->m_MoldMainManualAbsPos;
	m_Mold->GetState()->SetAxisCfg(ConfigManager::GetInstance()->GetMoldCfg());

	ac = m_MoldSlave->GetConfig();
	ac->m_Speed = params->m_MoldSlaveManualSpeed;
	ac->m_Acc = params->m_MoldSlaveManualAcc;
	ac->m_Dec = params->m_MoldSlaveManualDec;
	ac->m_RefDistance = params->m_MoldSlaveManualRefDistance;
	ac->m_AbsPos = params->m_MoldSlaveManualAbsPos;
	m_MoldSlave->GetState()->SetAxisCfg(ConfigManager::GetInstance()->GetMoldCfg());

	ac = m_Clean->GetConfig();
	ac->m_Speed = params->m_CleanMainManualSpeed;
	ac->m_Acc = params->m_CleanMainManualAcc;
	ac->m_Dec = params->m_CleanMainManualDec;
	ac->m_RefDistance = params->m_CleanMainManualRefDistance;
	ac->m_AbsPos = params->m_CleanMainManualAbsPos;
	m_Clean->GetState()->SetAxisCfg(ConfigManager::GetInstance()->GetCleanCfg());

	ac = m_CleanSlave->GetConfig();
	ac->m_Speed = params->m_CleanSlaveManualSpeed;
	ac->m_Acc = params->m_CleanSlaveManualAcc;
	ac->m_Dec = params->m_CleanSlaveManualDec;
	ac->m_RefDistance = params->m_CleanSlaveManualRefDistance;
	ac->m_AbsPos = params->m_CleanSlaveManualAbsPos;
	m_CleanSlave->GetState()->SetAxisCfg(ConfigManager::GetInstance()->GetCleanCfg());

	ac = m_Ele->GetConfig();
	ac->m_Speed = params->m_EleCylinderMainManualSpeed;
	ac->m_Acc = params->m_EleCylinderMainManualAcc;
	ac->m_Dec = params->m_EleCylinderMainManualDec;
	ac->m_RefDistance = params->m_EleCylinderMainManualRefDistance;
	ac->m_AbsPos = params->m_EleCylinderMainManualAbsPos;
	m_Ele->GetState()->SetAxisCfg(ConfigManager::GetInstance()->GetEleCfg());

	ac = m_EleSlave->GetConfig();
	ac->m_Speed = params->m_EleCylinderSlaveManualSpeed;
	ac->m_Acc = params->m_EleCylinderSlaveManualAcc;
	ac->m_Dec = params->m_EleCylinderSlaveManualDec;
	ac->m_RefDistance = params->m_EleCylinderSlaveManualRefDistance;
	ac->m_AbsPos = params->m_EleCylinderSlaveManualAbsPos;
	m_EleSlave->GetState()->SetAxisCfg(ConfigManager::GetInstance()->GetEleCfg());

	ac = m_Arm->GetConfig();
	ac->m_Speed = params->m_ArmManualSpeed;
	ac->m_Acc = params->m_ArmManualAcc;
	ac->m_Dec = params->m_ArmManualDec;
	ac->m_RefDistance = params->m_ArmManualRefDistance;
	ac->m_AbsPos = params->m_ArmManualAbsPos;
	m_Arm ->GetState()->SetAxisCfg(ConfigManager::GetInstance()->GetArmCfg());

	ac = m_Load->GetConfig();
	ac->m_Speed = params->m_LoadAxisManualSpeed;
	ac->m_Acc = params->m_LoadAxisManualAcc;
	ac->m_Dec = params->m_LoadAxisManualDec;
	ac->m_RefDistance = params->m_LoadAxisManualRefDistance;
	ac->m_AbsPos = params->m_LoadAxisManualAbsPos;
	m_Load->GetState()->SetAxisCfg( ConfigManager::GetInstance()->GetLoadCfg());

	ac = m_Supply->GetConfig();
	ac->m_Speed = params->m_SupplyManualSpeed;
	ac->m_Acc = params->m_SupplyManualAcc;
	ac->m_Dec = params->m_SupplyManualDec;
	ac->m_RefDistance = params->m_SupplyManualRefDistance;
	ac->m_AbsPos = params->m_SupplyManualAbsPos;
	m_Supply->GetState()->SetAxisCfg( ConfigManager::GetInstance()->GetSupplyCfg());

	AxisCtrl* actrl = m_Mold->GetCtrl();
	actrl->m_ServoOn = ctrl->m_MoldMainServoOn;
	actrl->m_ServoHomeIndexOn = ctrl->m_MoldMainServoHomeIndexOn;
	actrl->m_ServoReset = ctrl->m_MoldMainServoReset;
	actrl->m_MoveP = ctrl->m_MoldMainMoveUp;
	actrl->m_MoveN = ctrl->m_MoldMainMoveDown;
	actrl->m_MovePContinue = ctrl->m_MoldMainMoveUpContinue;
	actrl->m_MoveNContinue = ctrl->m_MoldMainMoveDownContinue;
	actrl->m_MoveAbsPos = ctrl->m_MoldMainMoveAbsPos;
	actrl->m_MotionStop = ctrl->m_MoldMainMotionStop;

	actrl = m_MoldSlave->GetCtrl();
	actrl->m_ServoOn = ctrl->m_MoldSlaveServoOn;
	actrl->m_ServoHomeIndexOn = ctrl->m_MoldSlaveServoHomeIndexOn;
	actrl->m_ServoReset = ctrl->m_MoldSlaveServoReset;
	actrl->m_MoveP = ctrl->m_MoldSlaveMoveUp;
	actrl->m_MoveN = ctrl->m_MoldSlaveMoveDown;
	actrl->m_MovePContinue = ctrl->m_MoldSlaveMoveUpContinue;
	actrl->m_MoveNContinue = ctrl->m_MoldSlaveMoveDownContinue;
	actrl->m_MoveAbsPos = ctrl->m_MoldSlaveMoveAbsPos;
	actrl->m_MotionStop = ctrl->m_MoldSlaveMotionStop;

	actrl = m_Clean->GetCtrl();
	actrl->m_ServoOn = ctrl->m_CleanMainServoOn;
	actrl->m_ServoHomeIndexOn = ctrl->m_CleanMainServoHomeIndexOn;
	actrl->m_ServoReset = ctrl->m_CleanMainServoReset;
	actrl->m_MoveP = ctrl->m_CleanMainMoveUp;
	actrl->m_MoveN = ctrl->m_CleanMainMoveDown;
	actrl->m_MovePContinue = ctrl->m_CleanMainMoveUpContinue;
	actrl->m_MoveNContinue = ctrl->m_CleanMainMoveDownContinue;
	actrl->m_MoveAbsPos = ctrl->m_CleanMainMoveAbsPos;
	actrl->m_MotionStop = ctrl->m_CleanMainMotionStop;

	actrl = m_CleanSlave->GetCtrl();
	actrl->m_ServoOn = ctrl->m_CleanSlaveServoOn;
	actrl->m_ServoHomeIndexOn = ctrl->m_CleanSlaveServoHomeIndexOn;
	actrl->m_ServoReset = ctrl->m_CleanSlaveServoReset;
	actrl->m_MoveP = ctrl->m_CleanSlaveMoveUp;
	actrl->m_MoveN = ctrl->m_CleanSlaveMoveDown;
	actrl->m_MovePContinue = ctrl->m_CleanSlaveMoveUpContinue;
	actrl->m_MoveNContinue = ctrl->m_CleanSlaveMoveDownContinue;
	actrl->m_MoveAbsPos = ctrl->m_CleanSlaveMoveAbsPos;
	actrl->m_MotionStop = ctrl->m_CleanSlaveMotionStop;

	/*actrl = m_Ele->GetCtrl();
	actrl->m_ServoOn = ctrl->m_EleCylinderMainServoOn;
	actrl->m_ServoHomeIndexOn = ctrl->m_EleCylinderMainServoHomeIndexOn;
	actrl->m_ServoReset = ctrl->m_EleCylinderMainServoReset;
	actrl->m_MoveP = ctrl->m_EleCylinderMainMoveUp;
	actrl->m_MoveN = ctrl->m_EleCylinderMainMoveDown;
	actrl->m_MovePContinue = ctrl->m_EleCylinderMainMoveUpContinue;
	actrl->m_MoveNContinue = ctrl->m_EleCylinderMainMoveDownContinue;
	actrl->m_MoveAbsPos = ctrl->m_EleCylinderMainMoveAbsPos;
	actrl->m_MotionStop = ctrl->m_EleCylinderMainMotionStop;

	actrl = m_EleSlave->GetCtrl();
	actrl->m_ServoOn = ctrl->m_EleCylinderSlaveServoOn;
	actrl->m_ServoHomeIndexOn = ctrl->m_EleCylinderSlaveServoHomeIndexOn;
	actrl->m_ServoReset = ctrl->m_EleCylinderSlaveServoReset;
	actrl->m_MoveP = ctrl->m_EleCylinderSlaveMoveUp;
	actrl->m_MoveN = ctrl->m_EleCylinderSlaveMoveDown;
	actrl->m_MovePContinue = ctrl->m_EleCylinderSlaveMoveUpContinue;
	actrl->m_MoveNContinue = ctrl->m_EleCylinderSlaveMoveDownContinue;
	actrl->m_MoveAbsPos = ctrl->m_EleCylinderSlaveMoveAbsPos;
	actrl->m_MotionStop = ctrl->m_EleCylinderSlaveMotionStop;
	*/
	actrl = m_Arm->GetCtrl();
	actrl->m_ServoOn = ctrl->m_ArmServoOn;
	actrl->m_ServoHomeIndexOn = ctrl->m_ArmServoHomeIndexOn;
	actrl->m_ServoReset = ctrl->m_ArmServoReset;
	actrl->m_MoveP = ctrl->m_ArmMoveFront;
	actrl->m_MoveN = ctrl->m_ArmMoveBack;
	actrl->m_MovePContinue = ctrl->m_ArmMoveFrontContinue;
	actrl->m_MoveNContinue = ctrl->m_ArmMoveBackContinue;
	actrl->m_MoveAbsPos = ctrl->m_ArmMoveAbsPos;
	actrl->m_MotionStop = ctrl->m_ArmMotionStop;

	actrl = m_Load->GetCtrl();
	actrl->m_ServoOn = ctrl->m_LoadAxisServoOn;
	actrl->m_ServoHomeIndexOn = ctrl->m_LoadAxisServoHomeIndexOn;
	actrl->m_ServoReset = ctrl->m_LoadAxisServoReset;
	actrl->m_MoveP = ctrl->m_LoadAxisMoveRight;
	actrl->m_MoveN = ctrl->m_LoadAxisMoveLeft;
	actrl->m_MovePContinue = ctrl->m_LoadAxisMoveRightContinue;
	actrl->m_MoveNContinue = ctrl->m_LoadAxisMoveLeftContinue;
	actrl->m_MoveAbsPos = ctrl->m_LoadAxisMoveAbsPos;
	actrl->m_MotionStop = ctrl->m_LoadAxisMotionStop;

	actrl = m_Supply->GetCtrl();
	actrl->m_ServoOn = ctrl->m_SupplyServoOn;
	actrl->m_ServoHomeIndexOn = ctrl->m_SupplyServoHomeIndexOn;
	actrl->m_ServoReset = ctrl->m_SupplyServoReset;
	actrl->m_MoveP = ctrl->m_SupplyMovePositive;
	actrl->m_MoveN = ctrl->m_SupplyMoveNegative;
	actrl->m_MovePContinue = ctrl->m_SupplyMovePositiveContinue;
	actrl->m_MoveNContinue = ctrl->m_SupplyMoveNegativeContinue;
	actrl->m_MoveAbsPos = ctrl->m_SupplyMoveAbsPos;
	actrl->m_MotionStop = ctrl->m_SupplyMotionStop;
}


void PLCAxis::StopAll(void)
{
	m_Mold->GetCtrl()->m_MotionStop->SetValue(true);
	Sleep(100);
	m_Mold->GetCtrl()->m_MotionStop->SetValue(false);
	m_Clean->GetCtrl()->m_MotionStop->SetValue(true);
	Sleep(100);
	m_Clean->GetCtrl()->m_MotionStop->SetValue(false);
	m_Load->GetCtrl()->m_MotionStop->SetValue(true);
	Sleep(100);
	m_Load->GetCtrl()->m_MotionStop->SetValue(false);
	m_Arm->GetCtrl()->m_MotionStop->SetValue(true);
	Sleep(100);
	m_Arm->GetCtrl()->m_MotionStop->SetValue(false);
	m_Supply->GetCtrl()->m_MotionStop->SetValue(true);
	Sleep(100);
	m_Supply->GetCtrl()->m_MotionStop->SetValue(false);
}