#define GRAT_EXPORT
#define _CRT_SECURE_NO_WARNINGS

#include "gratfocus.h"
#include "runtime.h"
#include <Windows.h>
#include <time.h>

DWORD DelayTime = 100;
DWORD dwDevice = 1;
HINSTANCE hPmacLib;
int DriverOpen = 0;
char strTemp[255], sinput[50];


void RunLink(void);
void SetupMotor(int axis, double ix19, int ix20, int ix21, double ix22);
int GratingMovingCheck(void);


void RunLink()
{
	hPmacLib = LoadLibrary("PComm64.dll");
	DeviceOpen = (OPENPMACDEVICE)GetProcAddress(hPmacLib,"OpenPmacDevice");
	DeviceClose = (CLOSEPMACDEVICE)GetProcAddress(hPmacLib,"ClosePmacDevice");
	DeviceGetRomVersion = (GETROMVERSIONA)GetProcAddress(hPmacLib,"PmacGetRomVersionA");
	DeviceGetRomDate = (GETROMDATEA)GetProcAddress(hPmacLib,"PmacGetRomDateA");
	DeviceGetResponse = (GETRESPONSEA)GetProcAddress(hPmacLib,"PmacGetResponseA");
	DeviceDownload = (DOWNLOADA)GetProcAddress(hPmacLib, "PmacDownloadA");
	DeviceGetBuffer = (GETBUFFERA)GetProcAddress(hPmacLib, "PmacGetBufferA");
	DeviceSetQuickGather = (SETQUICKGATHER)GetProcAddress(hPmacLib,"PmacSetQuickGather");
	DeviceCollectGatherData = (COLLECTGATHERDATA)GetProcAddress(hPmacLib,"PmacCollectGatherData");
	DeviceGetGatherSamples = (GETGATHERSAMPLES)GetProcAddress(hPmacLib, "PmacGetGatherSamples");
	DeviceGetIVariableLong = (GETIVARIABLELONG)GetProcAddress(hPmacLib, "PmacGetIVariableLong");
	Sleep(1000);
}

GRAT_API void SlitHatchClose(void)
{
	DeviceGetResponse(dwDevice, strTemp, 255, "m7100=0");
	DeviceGetResponse(dwDevice, strTemp, 255, "m7101=1");
}

GRAT_API void SlitHatchOpen(void)
{
	DeviceGetResponse(dwDevice, strTemp, 255, "m7100=1");
	DeviceGetResponse(dwDevice, strTemp, 255, "m7101=0");
}

void SetupMotor(int axis, double ix19, int ix20, int ix21, double ix22)
{
	int AddressBit;
	// jog & home 움직임의 최대 가속도 설정 (counts/msec^2).
	sprintf(sinput, "I%d19 = %lf", axis, ix19);
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	// jogging & homing 시 가속 시간 (msec)
	sprintf(sinput, "I%d20=%d", axis, ix20);
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	// jogging & homing 시 S-Curve 시간 (msec)
	sprintf(sinput, "I%d21=%d", axis, ix21);
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	// jog speed
	sprintf(sinput, "I%d22=%lf", axis, ix22);
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	// home speed and direction
	//if (axis==1)
//		sprintf(sinput, "I%d23=%lf", axis, ix22);
//	else
	sprintf(sinput, "I%d23=-%lf", axis, ix22);
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	// Set the limitor
	sprintf(sinput, "i%d24=$500001", axis);				// h/w limit enable  / disable = i%d24=$520001
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);


	// set limitor status bit (mxx31: positive-end-limit, mxx32: negative-end-limit)
	AddressBit = 0xB0 + (axis-1) * 0x80;
	sprintf(sinput, "m%d31->X:$%06X,21,1", axis, AddressBit);
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	sprintf(sinput, "m%d32->X:$%06X,22,1", axis, AddressBit);
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	// motor running status bit setup
	sprintf(sinput, "m%d37->X:$%06X,17,1", axis, AddressBit);
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	// motor inPosition bit setup
	sprintf(sinput, "m%d40->X:$%06X,0,1", axis, AddressBit + 0x10);
}



GRAT_API int OpenClipper()
{
  int drvStatus;

	drvStatus = OpnDriver();
	if (drvStatus == 1)
	{
		// Go Grating to home position
		Go2Home(1);
		// Slit Hatch Open (Currently not working)
		//SlitHatchOpen();
		Sleep(DelayTime);
	}
	return drvStatus;
}

GRAT_API int CloseClipper()
{
	int closeStatus;

	//SlitHatchClose(); (Currently not working)
	//MoveGrating(-50000);
	Go2PLimit(1); //move grating to gravitationally stable position
	Sleep(5000);

	closeStatus = ClsDriver();

	return closeStatus;
}


GRAT_API void MoveGrating(int MotorStep)
{
	int motorRun;
	MotorStep *= -1;
	sprintf(sinput, "#1J=%d", MotorStep);
	DeviceGetResponse(dwDevice, strTemp, 255, sinput);
	/*
	do {
		motorRun = GratingMovingCheck();
		Sleep(DelayTime);
	} while(motorRun);
	*/
}


GRAT_API void MoveCamFocus(int cam, int MotorStep)
{
	sprintf(sinput, "#%dJ=%d", cam+1, MotorStep);
	DeviceGetResponse(dwDevice, strTemp, 255, sinput);
}

GRAT_API void getresponse(char* string, char* strRes)
{
	DeviceGetResponse(dwDevice, strRes, 255, string);
}

int GratingMovingCheck(void)
{
	sprintf(sinput, "m137");
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	return atoi(strTemp);
}

GRAT_API int MovingCheck(int axis)
{
	sprintf(sinput, "m%d37", axis);
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	return atoi(strTemp);
}

GRAT_API int InPositionCheck(int axis)
{
	sprintf(sinput, "m%d40", axis);
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	return atoi(strTemp);
}

GRAT_API double ReadPosition(int axis)
{
	sprintf(sinput, "#%dP", axis);
	DeviceGetResponse(dwDevice, strTemp, 255, sinput);
	return atof(strTemp);
}

GRAT_API void ReadLimitStatus(int axis, int* pLimit, int* nLimit)
{
	sprintf(sinput, "m%d31", axis);
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	*pLimit = atoi(strTemp);
	sprintf(sinput, "m%d32", axis);
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	*nLimit = atoi(strTemp);
}


GRAT_API void Go2PLimit(int axis)
{
	sprintf(sinput, "#%dj+", axis);				// CW rotation
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
}

GRAT_API void Go2NLimit(int axis)
{
	sprintf(sinput, "#%dj-", axis);				// CCW rotation
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
}

GRAT_API void Go2Home(int axis)
{
	sprintf(sinput, "#%dhm", axis);				// CCW rotation
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
}


GRAT_API void MotorStop(int axis)
{
	sprintf(sinput, "#%dj/", axis);
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
}

GRAT_API void MotorOnOff(int axis, int OnOffSwitch)
{
	sprintf(sinput, "I%d00=%d", axis, OnOffSwitch);
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
}


GRAT_API void ReadSlitHatchLimit(int* plim,int* nlim)
{
	sprintf(sinput, "m7007");
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	*plim = atoi(strTemp);
	sprintf(sinput, "m7006");
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	*nlim = atoi(strTemp);
}


GRAT_API int OpnDriver()
{
	char vs[30], ds[30];
	int i;
	hPmacLib = NULL;

	RunLink();

	DriverOpen = DeviceOpen(dwDevice);
	if (DriverOpen)
	{
	DeviceGetRomVersion(dwDevice, vs, 30);
	DeviceGetRomDate(dwDevice, ds, 30);
	Sleep(DelayTime);

	for (i=1; i<=3; i++)
	{
		sprintf(sinput, "#%do0", i);		// Open-loop output of zero magnitude
		DeviceGetResponse( dwDevice, strTemp, 255, sinput);
		sprintf(sinput, "#%dj/", i);		// Re-establish closed-loop control, stop the motor if it hase been moving in open-loop mode.
		DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	}

	Sleep(DelayTime);
	// Enable the home switch of grating
	sprintf(sinput, "i7012=2");          // 2,6: Capture on Flag high / 10,14: Capture on Flag low
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	// Set N limit to the home
	sprintf(sinput, "i7022=6");
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	sprintf(sinput, "i7023=2");
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	sprintf(sinput, "i7032=6");
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	sprintf(sinput, "i7033=2");
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	sprintf(sinput, "M120->X:$078000,16");
	DeviceGetResponse( dwDevice, strTemp, 255, sinput);
	SetupMotor(1, 0.01, 100, 50, 1);
	SetupMotor(2, 0.02, 100, 50, 2);
	SetupMotor(3, 0.02, 100, 50, 2);
	Sleep(DelayTime);

	return 1;
	}
	else
		return ERR_OpnClipper;
}

GRAT_API int ClsDriver()
{
	int i;
	Sleep(DelayTime);
  if (DriverOpen)
  {
    DriverOpen = !DeviceClose(dwDevice);
		FreeLibrary(hPmacLib);		//FREEING HANDLE
  }
	if (!DriverOpen)
		return 1;
	else
		return ERR_CloseClipper;
}