/*	**************************************************************  */
/*
 *	Module CM6KUI
 *	This module contains functions for the Compumotor CM6K
 *	user interface.
 *
 *	Zachary Wolf
 *	9/11/02
 */ 

/*	**************************************************************  */

/*	INCLUDES  */
#include <utility.h>
#include <ansi_c.h>
#include <cvirte.h>		/* Needed if linking in external compiler; harmless otherwise */
#include <userint.h>
#include "cm6kuir.h"
#include "cm6kui.h"
#include "cm6k.h"

/*	**************************************************************  */

/*	PRIVATE VARIABLES  */
static int cm6k_ID;
static int cm6k_panel;

/*	**************************************************************  */

/*  PRIVATE FUNCTION DECLARATIONSS  */
void cm6kui_error(char* msg);

/*	**************************************************************  */

/*  PUBLIC FUNCTIONS  */

/*	**************************************************************  */
/*
 *	cm6kui_init
 *  This function initializes the user interface for the CM6K.
 *
 *	Input:
 *	ID, CM6K device identifier
 *
 *	Zachary Wolf
 *	9/11/02
 */

void cm6kui_init(int ID)
{
	/* Save the device ID */
	cm6k_ID = ID;
	
	/* Open the CM6K panel */
	cm6k_panel = LoadPanel(0, "cm6kuir.uir", CM6KPAN);
	if (cm6k_panel < 0)
	{
		cm6kui_error("Could not open user interface panel");
		return;
	}
	
	/* Display the panel when the user interface runs */
	DisplayPanel(cm6k_panel);
	
	/* Done */
	return;
}

/*	**************************************************************  */

/*  PRIVATE FUNCTIONS  */

/*	**************************************************************  */
/*
 *	cm6kui_error
 *  This function handles error messages for the CM6K user interface.
 *
 *	Input:
 *	message, string to display in standard I/O
 *
 *	Zachary Wolf
 *	9/11/02
 */

void cm6kui_error(char* message)
{
	/* Declare variables */
	char buf[80];
	
	/* Notify the operator of the error */
	printf("\nCM6KUI ERROR: %s\n", message);
	Beep();
	Delay(.5);
	Beep();
	
	/* Terminate the program if the operator desires */
	printf("Press ENTER to continue.\nPress any key then ENTER to terminate program.\n");
	fgets(buf, 80, stdin);
	if (buf[0] == '\n') return;
	else exit(0);
}

/*	**************************************************************  */

/*  PRIVATE USER INTERFACE FUNCTIONS  */

/*	**************************************************************  */

int CVICALLBACK cm6kui_move_rel(int panel, int control, int event,
		void *callbackData, int eventData1, int eventData2)
{
	int axis;
	double acc, vel, dis;
	switch (event)
	{
		case EVENT_COMMIT:
			GetCtrlVal(panel, CM6KPAN_NUM_AXIS, &axis);
			GetCtrlVal(panel, CM6KPAN_NUM_ACCELERATION, &acc);
			GetCtrlVal(panel, CM6KPAN_NUM_VELOCITY, &vel);
			GetCtrlVal(panel, CM6KPAN_NUM_DISTANCE, &dis);
			cm6k_rel_move(cm6k_ID, axis, acc, vel, dis);
			break;
	}
	return 0;
}

/*	**************************************************************  */

int CVICALLBACK cm6kui_move_abs(int panel, int control, int event,
		void *callbackData, int eventData1, int eventData2)
{
	int axis;
	double acc, vel, pos;
	switch (event)
	{
		case EVENT_COMMIT:
			GetCtrlVal(panel, CM6KPAN_NUM_AXIS, &axis);
			GetCtrlVal(panel, CM6KPAN_NUM_ACCELERATION, &acc);
			GetCtrlVal(panel, CM6KPAN_NUM_VELOCITY, &vel);
			GetCtrlVal(panel, CM6KPAN_NUM_DISTANCE, &pos);
			cm6k_abs_move(cm6k_ID, axis, acc, vel, pos);
			break;
	}
	return 0;
}

/*	**************************************************************  */

int CVICALLBACK cm6kui_get_mot_position(int panel, int control, int event,
		void *callbackData, int eventData1, int eventData2)
{
	int axis;
	double pos;
	switch (event)
	{
		case EVENT_COMMIT:
			GetCtrlVal(panel, CM6KPAN_NUM_AXIS, &axis);
			cm6k_get_mot_position(cm6k_ID, axis, &pos);
			SetCtrlVal(panel, CM6KPAN_NUM_MOT_POSITION, pos);
			break;
	}
	return 0;
}

/*	**************************************************************  */

int CVICALLBACK cm6kui_get_enc_position(int panel, int control, int event,
		void *callbackData, int eventData1, int eventData2)
{
	int axis;
	double pos;
	switch (event)
	{
		case EVENT_COMMIT:
			GetCtrlVal(panel, CM6KPAN_NUM_AXIS, &axis);
			cm6k_get_enc_position(cm6k_ID, axis, &pos);
			SetCtrlVal(panel, CM6KPAN_NUM_ENC_POSITION, pos);
			break;
	}
	return 0;
}

/*	**************************************************************  */

int CVICALLBACK cm6kui_zero(int panel, int control, int event,
		void *callbackData, int eventData1, int eventData2)
{
	int axis;
	double pos;
	switch (event)
	{
		case EVENT_COMMIT:
			GetCtrlVal(panel, CM6KPAN_NUM_AXIS, &axis);
			cm6k_zero(cm6k_ID, axis);
			cm6k_get_mot_position(cm6k_ID, axis, &pos);
			SetCtrlVal(panel, CM6KPAN_NUM_MOT_POSITION, pos);
			cm6k_get_enc_position(cm6k_ID, axis, &pos);
			SetCtrlVal(panel, CM6KPAN_NUM_ENC_POSITION, pos);
			break;
		case EVENT_RIGHT_CLICK:

			break;
	}
	return 0;
}

/*	**************************************************************  */

int CVICALLBACK cm6kui_go_home(int panel, int control, int event,
		void *callbackData, int eventData1, int eventData2)
{
	int axis;
	double acc, vel;
	switch (event)
	{
		case EVENT_COMMIT:
			GetCtrlVal(panel, CM6KPAN_NUM_AXIS, &axis);
			GetCtrlVal(panel, CM6KPAN_NUM_ACCELERATION, &acc);
			GetCtrlVal(panel, CM6KPAN_NUM_VELOCITY, &vel);
			cm6k_go_home(cm6k_ID, axis, acc, vel);
			break;
		case EVENT_RIGHT_CLICK:

			break;
	}
	return 0;
}

/*	**************************************************************  */

int CVICALLBACK cm6kui_quit(int panel, int control, int event,
		void *callbackData, int eventData1, int eventData2)
{
	switch (event)
	{
		case EVENT_COMMIT:
			cm6k_exit(cm6k_ID);
			QuitUserInterface(0);
			break;
	}
	return 0;
}