#include "stdafx.h"
#include "AdlinkMotionCardLibrary.h"extern "C" _declspec(dllexport) bool _stdcall MotionCardIni(I32& BoardId_InBits, I32 Mode)
{  try{//mode=0：： 系統指定卡號    mode=1：：由撥碼開關指定卡號I32 BoardId_InBits, I32 Moderet=APS_initial(&BoardId_InBits, Mode);		Card1ret =APS_load_param_from_file("MotionCardId1.xml");Card0ret = APS_load_param_from_file("MotionCardId0.xml");ret = APS_set_axis_param(1, (I32)PRA_HOME_MODE, 1);ret = APS_set_axis_param(5, (I32)PRA_HOME_MODE, 1);return true;}catch (...){ return false; }
}extern "C" _declspec(dllexport) bool _stdcall AxisHome(I32 AxisID){try{ret = APS_home_move(AxisID);  //check okreturn true;}catch (...){return false;}}extern "C" _declspec(dllexport) bool _stdcall MotionCardWriteDoutput(I32 BoardID, I32 DoGroup, I32 ChannelNO, I32 OnOff){try{ret = APS_write_d_channel_output(BoardID, DoGroup, ChannelNO, OnOff);  //write one bit  check okreturn true;}catch (...){return false;}}extern "C" _declspec(dllexport) bool _stdcall MotionCardSetTrigerPara(I32 BoardID){try{ret = APS_set_trigger_param(BoardID, (I32)TGR_TRG_EN, 15);// ch0 set upret = APS_set_trigger_param(BoardID, (I32)TGR_TRG0_SRC, 0x05); //set ch0 to manual mode& table0ret = APS_set_trigger_param(BoardID, (I32)TGR_TRG0_LOGIC, 0x0);//not inverseret = APS_set_trigger_param(BoardID, (I32)TGR_TRG0_TGL, 0x0);//pulse out moderet = APS_set_trigger_param(BoardID, (I32)TGR_TRG0_PWD, 500000);// (n-1)*20ns    1ms=1000us=1000000ns n-1=1000000ns/20  =50000=5W             //Table compare direction: Bi-direction(No direction)ret = APS_set_trigger_param(BoardID, (I32)TGR_TCMP0_DIR, 2);//Table compare source: encoder counter0  ret = APS_set_trigger_param(BoardID, (I32)TGR_TCMP0_SRC, 0x0);  //encoder counter0  //check okreturn true;}catch (...){return false;}}extern "C" _declspec(dllexport) bool _stdcall MotionCardSetTriger2CHPara(I32 BoardID){try{ret = APS_set_trigger_param(BoardID, (I32)TGR_TRG_EN, 15);  // ch0 set upret = APS_set_trigger_param(BoardID, (I32)TGR_TRG1_SRC, 0x09); //set ch1 to manual mode& table1ret = APS_set_trigger_param(BoardID, (I32)TGR_TRG1_LOGIC, 0x0);//not inverseret = APS_set_trigger_param(BoardID, (I32)TGR_TRG1_TGL, 0x0);//pulse out moderet = APS_set_trigger_param(BoardID, (I32)TGR_TRG1_PWD, 500000);// (n-1)*20ns    1ms=1000us=1000000ns n-1=1000000ns/20  =50000             //Table compare direction: Bi-direction(No direction)ret = APS_set_trigger_param(BoardID, (I32)TGR_TCMP1_DIR, 2);//Table compare source: encoder0 ret = APS_set_trigger_param(BoardID, (I32)TGR_TCMP1_SRC, 0x04);  //encoder counter0 //check okreturn true;}catch (...){ return false;}}extern "C" _declspec(dllexport) bool _stdcall MotionCardSetTriger3CHPara(I32 BoardID){try{ret = APS_set_trigger_param(BoardID, (I32)TGR_TRG_EN, 15);// ch0 set upret = APS_set_trigger_param(BoardID, (I32)TGR_TRG2_SRC, 0x01); //set ch1 to manual mode& table1ret = APS_set_trigger_param(BoardID, (I32)TGR_TRG2_LOGIC, 0x0);//not inverseret = APS_set_trigger_param(BoardID, (I32)TGR_TRG2_TGL, 0x0);//pulse out moderet = APS_set_trigger_param(BoardID, (I32)TGR_TRG2_PWD, 500000);// (n-1)*20ns    1ms=1000us=1000000ns n-1=1000000ns/20  =50000             //check okreturn true;}catch (...){return false;}}extern "C" _declspec(dllexport) bool _stdcall MotionCardSetTrigerTable(I32 BoardID, I32& PosArray){try{		ret = APS_set_trigger_table(BoardID, 0, &PosArray, 2);//check okreturn true;}catch (...){ return false;}}extern "C" _declspec(dllexport) bool _stdcall MotionCardSetTriger2CHTable(I32 BoardID, I32& PosArray){try{		ret = APS_set_trigger_table(BoardID, 1, &PosArray, 2);//check okreturn true;}catch (...){ return false; }}extern "C" _declspec(dllexport) bool _stdcall MotionCardManualTrigerStart(I32 BoardID, I32 TrgCh){try{ret = APS_set_trigger_manual(BoardID, TrgCh);//check okreturn true;}catch (...){ return false; }}extern "C" _declspec(dllexport) bool _stdcall MotionCardGetPosition(I32 AxisID, I32 &Position){try{ret = APS_get_position(AxisID, &Position);//check okreturn true;}catch (...){ return false;}}extern "C" _declspec(dllexport) bool _stdcall MotionCardGetMotionStatus(I32 AxisID, I32& MotionStatus){try{MotionStatus =APS_motion_status(AxisID);//check okreturn true;}catch (...){MotionStatus = -1;return false;}}extern "C" _declspec(dllexport) bool _stdcall MotionCardSetMovePara(I32 AxisID, double RunSpeed, double AcceleratedSpeed, double AxisScale){try{ret = APS_set_axis_param_f(AxisID, (I32)PRA_SF, 1.0);ret = APS_set_axis_param_f(AxisID, (I32)PRA_ACC, (I32)(RunSpeed / AcceleratedSpeed * AxisScale));ret = APS_set_axis_param_f(AxisID, (I32)PRA_DEC, (I32)(RunSpeed / AcceleratedSpeed * AxisScale));ret = APS_set_axis_param_f(AxisID, (I32)PRA_VM, RunSpeed * AxisScale);ret = APS_set_axis_param_f(AxisID, (I32)PRA_VS, 0);ret = APS_set_axis_param_f(AxisID, (I32)PRA_VE, 0);//check okreturn true;}catch (...){return false;}}extern "C" _declspec(dllexport) bool _stdcall MotionCardABSmove(I32 AxisID, I32 Position, I32 MaxSpeedPls){try{ret = APS_absolute_move(AxisID, Position, MaxSpeedPls);//check okreturn true;}catch (...){return false;}}extern "C" _declspec(dllexport) bool _stdcall MotionCardClose(){try{ret = APS_close();return true;}catch (...){ return false; }}extern "C" _declspec(dllexport) bool _stdcall MotionCardAxisServoOnOff(I32 AxisID, I32 OnOff){try{ret = APS_set_servo_on(AxisID, OnOff);return true;}catch (...){return false;}}extern "C" _declspec(dllexport) bool _stdcall MotionCardGetMotionIOstatus(I32 AxisID, I32& IOstatus){try{IOstatus= APS_motion_io_status(AxisID);return true;}catch (...){return false;}}extern "C" _declspec(dllexport) bool _stdcall MotionCardGetDinput(I32 BoardId, I32& DiData){try{I32*data = &DiData;ret = APS_read_d_input(BoardId, 0, data);return true;}catch (...){return false;}}extern "C" _declspec(dllexport) bool _stdcall MotionCardGetDout(I32 BoardId, I32& DiData){try{I32*data = &DiData;ret = APS_read_d_output(BoardId, 0, data);return true;}catch (...){return false;}}extern "C" _declspec(dllexport) bool _stdcall MotionCardStopAxis(I32 AxisId){try{ret = APS_stop_move(AxisId);return true;}catch (...){return false;}}extern "C" _declspec(dllexport) bool _stdcall MotionCardGetTrigerCnt(I32 boardID, I32 ch, I32& trgCnt){try{I32* Cnt = &trgCnt;ret = APS_get_trigger_count(boardID, ch, Cnt);return true;}catch (...){return false;} }extern "C" _declspec(dllexport) bool _stdcall MotionCardResteTrigerCnt(I32 boardID, I32 ch){try{ret = APS_reset_trigger_count(boardID, ch);return true;}catch (...){return false;}}extern "C" _declspec(dllexport) bool _stdcall ZcanMoveToAttach(I32 XAxisId, I32 YAxisId, I32 RAxisId, double XTarmm, double YTarmm, double RTarmm, double ZTarmm, double Xnowmm,double Ynowmm, double Rnowmm, double Znowmm, double XScale, double YScale, double RScale, double ZScale, double Xacc, double Yacc, double Racc, double Zacc, double Zspeedmm,bool ZcanAttch){I32 XspeedPulse = 0, YspeedPulse = 0, RspeedPulse = 0;double XTime = 999, YTime = 999, RTime = 999, ZTime = 0;try{ret = APS_get_feedback_velocity(XAxisId, &XspeedPulse);ret = APS_get_feedback_velocity(YAxisId, &YspeedPulse);ret = APS_get_feedback_velocity(RAxisId, &RspeedPulse);ZTime = Zacc + abs(Znowmm - ZTarmm) / Zspeedmm;if (XspeedPulse > 0 && abs(Xnowmm - XTarmm) < 10){XTime = Xacc + abs(Xnowmm - XTarmm) / (XspeedPulse / XScale);}else if (XspeedPulse == 0 && abs(Xnowmm - XTarmm)<0.1){XTime = -1;}if (YspeedPulse > 0 && abs(Ynowmm - YTarmm)<10){YTime = Yacc + abs(Ynowmm - YTarmm) / (YspeedPulse / YScale);}else if (YspeedPulse == 0 && abs(Ynowmm - YTarmm)<0.1){YTime = -1;}if (RspeedPulse > 0 && abs(Rnowmm - RTarmm)<10){RTime = Racc + abs(Rnowmm - RTarmm) / (RspeedPulse / RScale);}else if (RspeedPulse == 0 && abs(Rnowmm - RTarmm)<0.1){RTime = -1;}if ((ZTime>XTime)&&(ZTime>YTime)&&(ZTime>RTime)){ZcanAttch = true;}else{ZcanAttch = false;}return true;}catch (...){ZcanAttch = false;return false;}}extern "C" _declspec(dllexport) bool _stdcall ZcanMoveToPickMat(I32 XAxisId, I32 RAxisId, double XTarmm, double RTarmm, double ZTarmm, double Xnowmm,double Rnowmm, double Znowmm, double XScale, double RScale, double ZScale, double Xacc, double Racc, double Zacc, double Zspeedmm, bool ZcanPick){I32 XspeedPulse = 0, RspeedPulse = 0;double XTime = 999, RTime = 999, ZTime = 0;try{ret = APS_get_feedback_velocity(XAxisId, &XspeedPulse);ret = APS_get_feedback_velocity(RAxisId, &RspeedPulse);ZTime = Zacc + abs(Znowmm - ZTarmm) / Zspeedmm;if (XspeedPulse > 0 && abs(Xnowmm - XTarmm) < 10){XTime = Xacc + abs(Xnowmm - XTarmm) / (XspeedPulse / XScale);}else if (XspeedPulse == 0 && abs(Xnowmm - XTarmm) < 0.1){XTime = -1;}if (RspeedPulse > 0 && abs(Rnowmm - RTarmm) < 10){RTime = Racc + abs(Rnowmm - RTarmm) / (RspeedPulse / RScale);}else if (RspeedPulse == 0 && abs(Rnowmm - RTarmm) < 0.1){RTime = -1;}if ((ZTime > XTime) && (ZTime > RTime)){ZcanPick = true;}else{ZcanPick = false;}return true;}catch (...){ZcanPick = false;return false;}}
extern "C" _declspec(dllexport) bool _stdcall  AxisMoveTogether(I32 Dimention, I32& AxisArr, I32& PosArr, double MaxSpe, double AxisScale){try{ret = APS_absolute_linear_move(Dimention, &AxisArr, &PosArr, I32(MaxSpe*AxisScale));return true;}catch (...){return false;}}extern "C" _declspec(dllexport) bool _stdcall MotionCardGetSpeed(I32 AxisID, I32 &Speed)
{try{ret = APS_get_feedback_velocity(AxisID, &Speed);return true;}catch (...){return false;}}