//  ************************************************************** 
//
//  XPS_C8_DF.H
//
//  Yurii Levashov & Seva
//  11/03/2005
// 

#ifndef __XPS_C8_HEADER
#define __XPS_C8_HEADER

#if defined(__cplusplus) || defined(__cplusplus__)
extern "C" {
#endif


//  **************************************************************  
//  PUBLIC FUNCTION DECLARATIONS  //
int xps_c8_init( int * dev_id);
void xps_c8_exit(int SocketID);
int xps_c8_move_abs(int SocketID, int group, double position , double positions[2]); 
int xps_c8_move_rel(int SocketID, int group, double distance , double positions[2]);
double xps_c8_getMovingTime(int SocketID, int group, double distance );
int xps_c8_get_position(int SocketID, int group, double pos[]);
int xps_c8_move_rel_both(int SocketID, int group, double distance, double positions[2]);
void xps_set_slow(BOOL slow, int dev_id);
//void xps_c8_stop_motion(int SocketID, char *pGroup);
//int xps_c8_GetParameters (int SocketID, char * pGroup, double * vel, double * acc, double * minJerk, double * maxJerk);
//int xps_c8_SetParameters (int SocketID, char * pGroup, double Vel, double Acc, double MinJerk, double MaxJerk);

//------------------------------------------------------------------- //
#define XPS_MAX_NUM_DEV   1
#define XPS_NUM_OF_1D_GROUPS  0    //number of single axis groups - reserved for future use
#define XPS_NUM_OF_2D_GROUPS  2    //number of two axes groups - currently in use
#define XPS_NUM_OF_3D_GROUPS  0    //number of three axes groups - reserved for future use
//------------------------------------------------------------------- // 

// define controller param structure
typedef struct tag_XPS_PARAM
{
    char * pIPAddress;
    int nPort;
    
} XPS_PARAM;
typedef XPS_PARAM *LPXPS_PARAM; 

// define 2D Group param structure
typedef struct tag_XPS_2DGROUP_PARAM
{ 

 char Group[8];
 char Axis1[8];
 char Axis2[8];
 double nScale1; //to avoid problems with the acceleration and velocity always keep
 double nScale2; // one parameter to be 1 or -1, and second one in range from -1 to 1
 double nScale1_copy; //set automatically to recover scale after using mode with one axis scale = 0
 double nScale2_copy; //set automatically to recover scale after using mode with one axis scale = 0 
 double acceleration;
 double velocity;
 double min_j_time;
 double max_j_time;
 
 double acceleration1;
 double velocity1;
 double min_j_time1;
 double max_j_time1;
 
 double offset;
 double position;
 int	group_mode; //use to change stages positive direction or for other modes
 
} XPS_2DGROUP;
typedef XPS_2DGROUP *LPXPS_2DGROUP; 

void xps_c8_set_param( XPS_PARAM nParam, XPS_2DGROUP group_param[]);
void xps_c8_set_group_mode(int group,int mode);
int xps_c8_get_group_mode(int group);
int xps_c8_move_axis_abs(int SocketID, int group, int axis, double position , double * pPosition);
void xps_c8_set_ufint_scales(double entry_scale, double exit_scale);

//different motion options
enum  xps_group_modes
{
    MODE_1P2P, //0-both moving positive
    MODE_1N2N, //1-both moving negative
    MODE_1P2N, //2-first moving positive second moving negative direction
    MODE_1N2P, //3-first moving negative second moving positive direction
    MODE_1P2S, //4-first moving positive second do not move
    MODE_1N2S, //5-first moving negative second do not move
    MODE_1S2P, //6-first do not move second moving positive direction
    MODE_1S2N  //7-first do not move second moving negative direction 
};
#endif