/*	**************************************************************  */
/*
 *	Module MOVEXY
 *	This module contains functions for moving and getting the position
 *	of two stages.
 *
 *	Zachary Wolf
 *	6/14/00
 */ 

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

/*	INCLUDES  */
#include <utility.h>
#include <gpib.h>
#include <formatio.h>
#include <ansi_c.h>
#include "movexy.h"
#include "mc4.h"

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

/*  PRIVATE FUNCTIONS  */
void movexy_message(char* msg);
void movexy_error(char* msg);
void movexy_log_device_type(enum movexy_device_type_enum device_type);
void movexy_log_abs_move(double x_pos, double y_pos);
void movexy_log_get_pos(double x_pos, double y_pos);
void movexy_log_zero(void);

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

/*  PRIVATE GLOBAL VARIABLES  */
static int mc4_ID;
static double current_nominal_x_position;
static double current_nominal_y_position;

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

/*  PRIVATE PARAMETERS  */
static char log_file[100];
static struct movexy_param_struct movexy_param;

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

/*	PUBLIC FUNCTIONS  */

/*	**************************************************************  */
/*
 *  movexy_init
 *  This function opens the device, queries for ID, and
 *  initializes the device to a known state.
 *
 *	Zachary Wolf
 *	6/14/00
 */

void movexy_init(char log_file_in[], struct movexy_param_struct movexy_param_in)
{
	/* Save the module parameters */
	strcpy(log_file, log_file_in);
	movexy_param = movexy_param_in;
	
	/* Initialize the appropriate devices */
	if (movexy_param.device_type == MOVEXY_MC4_MC4)
	{
		mc4_init(movexy_param.board_addr, movexy_param.mc4_addr, &mc4_ID);
	}
	else if (movexy_param.device_type == MOVEXY_MANUAL_NONE);
	else if (movexy_param.device_type == MOVEXY_NONE_NONE);
	else movexy_error("Unknown device type.");
	
	/* Zero the XY position system */
	movexy_zero();
	
	/* Log the device type */
	movexy_log_device_type(movexy_param.device_type);
    
    /* Done */
    return;
}

/*	**************************************************************  */
/*
 *	movexy_abs_move
 *  This function moves the stages to the specified positions.
 *
 *	Input:
 *	x_pos, final x stage position (m)
 *	y_pos, final y stage position (m)
 *
 *	Zachary Wolf
 *	12/19/00
 */

void movexy_abs_move(double x_pos, double y_pos)
{
	/* Declare variables */
	char buf[80];
	
	/* Move the stages to the specified positions */	
	if (movexy_param.device_type == MOVEXY_MC4_MC4)
	{
		mc4_abs_stage_move(mc4_ID, movexy_param.mc4_x_axis, movexy_param.acc, movexy_param.vel, x_pos);
		mc4_abs_stage_move(mc4_ID, movexy_param.mc4_y_axis, movexy_param.acc, movexy_param.vel, y_pos);
	}
	else if (movexy_param.device_type == MOVEXY_MANUAL_NONE)
	{
		printf("\nPlease move the X stage to %f m and the Y stage to %f m.\n", x_pos, y_pos);
		printf("Press ENTER when ready.");
		fgets(buf, 80, stdin);
	}
	else if (movexy_param.device_type == MOVEXY_NONE_NONE);
	else movexy_error("Unknown device type.");
	
	/* Save the positions */
	current_nominal_x_position = x_pos;
	current_nominal_y_position = y_pos;
	
	/* Log the move */
	movexy_log_abs_move(x_pos, y_pos);
    
    /* Done */
    return;
}

/*	**************************************************************  */
/*
 *	movexy_get_pos
 *  This function gets the positions of the stages.
 *
 *	Output:
 *	x_pos, x stage position (m)
 *	y_pos, y stage position (m)
 *
 *	Zachary Wolf
 *	12/19/00
 */

void movexy_get_pos(double* x_pos, double* y_pos)
{
	/* Get the positions of the stages */
	if (movexy_param.device_type == MOVEXY_MC4_MC4)
	{
		mc4_get_stage_pos(mc4_ID, movexy_param.mc4_x_axis, x_pos);
		mc4_get_stage_pos(mc4_ID, movexy_param.mc4_y_axis, y_pos);
	}
	else if (movexy_param.device_type == MOVEXY_MANUAL_NONE)
	{
		*x_pos = current_nominal_x_position;
		*y_pos = current_nominal_y_position;
	}
	else if (movexy_param.device_type == MOVEXY_NONE_NONE);
	else movexy_error("Unknown device type.");
	
	/* Log the position */
	movexy_log_get_pos(*x_pos, *y_pos);
    
    /* Done */
    return;
}

/*	**************************************************************  */
/*
 *	movexy_zero
 *  This function zeros the move device and the read device.
 *
 *	Zachary Wolf
 *	12/19/00
 */

void movexy_zero(void)
{
	/* Declare variables */
	char buf[80];
    
    /* Have the user move to the zero position */
    printf("\nPosition Zero\n");
    printf("Please move both the x and y stages to the zero position.\n");
    printf("The X and Y position scales will be zeroed.\n");
    printf("Press ENTER when ready.");
    fgets(buf, 80, stdin);
	
	/* Zero the move device and the read device */
	if (movexy_param.device_type == MOVEXY_MC4_MC4)
	{
		mc4_zero(mc4_ID);
	}
	else if (movexy_param.device_type == MOVEXY_MANUAL_NONE)
	{
		current_nominal_x_position = 0.;
		current_nominal_y_position = 0.;
	}
	else if (movexy_param.device_type == MOVEXY_NONE_NONE);
	else movexy_error("Unknown device type.");
	
	/* Log the zero */
	movexy_log_zero();
    
    /* Message */
    printf("The X and Y position zeros have been set.\n");
    
    /* Done */
    return;
}

/*	**************************************************************  */
/*
 *	movexy_exit
 *  This function configures the MOVEXY system for program exit and
 *	closes the devices.
 *
 *	Zachary Wolf
 *	12/19/00
 */

void movexy_exit(void)
{
	/* Exit all devices */
	if (movexy_param.device_type == MOVEXY_MC4_MC4)
	{
		mc4_exit(mc4_ID);
	}
	else if (movexy_param.device_type == MOVEXY_MANUAL_NONE);
	else if (movexy_param.device_type == MOVEXY_NONE_NONE);
	else movexy_error("Unknown device type.");
    
    /* Done */
    return;
}

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

/*	PRIVATE FUNCTIONS  */

/*	**************************************************************  */
/*
 *	movexy_message
 *  This function handles messages about the MOVEXY.
 *
 *	Input:
 *	message, string to display in standard I/O
 *
 *	Zachary Wolf
 *	12/20/99
 */

void movexy_message(char* message)
{
	/* Print the message */
	printf("%s\n", message);
	
	/* Done */
	return;
}

/*	**************************************************************  */
/*
 *	movexy_error
 *  This function handles error messages for the MOVEXY module.
 *
 *	Input:
 *	message, string to display in standard I/O
 *
 *	Zachary Wolf
 *	12/20/99
 */

void movexy_error(char* message)
{
	/* Declare variables */
	char buf[80];
	
	/* Notify the operator of the error */
	printf("\nMOVEXY 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.");
	fgets(buf, 80, stdin);
	if (buf[0] == '\n') return;
	else exit(0);
}

/*	**************************************************************	*/
/*
 *	movexy_log_device_type
 *	This function logs the types of devices being used.
 *
 *	Input:
 *	device_type, types of devices
 *
 *	Zachary Wolf
 *	12/19/00
 */

void movexy_log_device_type(enum movexy_device_type_enum device_type)
{
	/* Declare variables */
	FILE* file_ptr;
	char type[50];

	/* Put the device type in a string */
	if (device_type == MOVEXY_MC4_MC4) strcpy(type, "Move Device = MC4, Read Device = MC4");
	else if (device_type == MOVEXY_MANUAL_NONE) strcpy(type, "Move Device = MANUAL, Read Device = NONE");
	else if (device_type == MOVEXY_NONE_NONE) strcpy(type, "Move Device = NONE, Read Device = NONE");
	else movexy_error("Unknown device type in log device function.");
	
	/* Open the log file */
	file_ptr = fopen(log_file, "a");
	if (file_ptr == NULL)
	{
		movexy_message("Unable to open log file");
		return;
	}
	
	/* Write the types of devices to the log file */
	fprintf(file_ptr, "%s  MoveXY Devices:  %s\n", TimeStr(), type);
	
	/* Close the log file */
	fclose(file_ptr);
	
	/* Done */
	return;
}

/*	**************************************************************	*/
/*
 *	movexy_log_abs_move
 *	This function logs a move.
 *
 *	Input:
 *	x_pos, final x stage position (m)
 *	y_pos, final y stage position (m)
 *
 *	Zachary Wolf
 *	12/19/00
 */

void movexy_log_abs_move(double x_pos, double y_pos)
{
	/* Declare variables */
	FILE* file_ptr;
	
	/* Open the log file */
	file_ptr = fopen(log_file, "a");
	if (file_ptr == NULL)
	{
		movexy_message("Unable to open log file");
		return;
	}
	
	/* Write the final positions to the log file */
	fprintf(file_ptr, "%s  Move Stages, x_position = %f m, y_position = %f m\n", TimeStr(), x_pos, y_pos);
	
	/* Close the log file */
	fclose(file_ptr);
	
	/* Done */
	return;
}

/*	**************************************************************	*/
/*
 *	movexy_log_get_pos
 *	This function logs the result of a position measurement.
 *
 *	Input:
 *	x_pos, x stage position (m)
 *	y_pos, y stage position (m)
 *
 *	Zachary Wolf
 *	12/19/00
 */

void movexy_log_get_pos(double x_pos, double y_pos)
{
	/* Declare variables */
	FILE* file_ptr;
	
	/* Open the log file */
	file_ptr = fopen(log_file, "a");
	if (file_ptr == NULL)
	{
		movexy_message("Unable to open log file");
		return;
	}
	
	/* Write the measured values to the log file */
	fprintf(file_ptr, "%s  Stage Position Measurement, x_pos = %f m, y_pos = %f m\n", TimeStr(), x_pos, y_pos);
	
	/* Close the log file */
	fclose(file_ptr);
	
	/* Done */
	return;
}

/*	**************************************************************	*/
/*
 *	movexy_log_zero
 *	This function logs the zeroing of the move device and the read device.
 *
 *	Zachary Wolf
 *	2/2/00
 */

void movexy_log_zero(void)
{
	/* Declare variables */
	FILE* file_ptr;
	
	/* Open the log file */
	file_ptr = fopen(log_file, "a");
	if (file_ptr == NULL)
	{
		movexy_message("Unable to open log file");
		return;
	}
	
	/* Write the measured value to the log file */
	fprintf(file_ptr, "%s  X and Y Stages Zeroed\n", TimeStr());
	
	/* Close the log file */
	fclose(file_ptr);
	
	/* Done */
	return;
}