//----------------------------------------------------------------------------
//  EgalTech 2015-2015
//----------------------------------------------------------------------------
// File : MachineStruConst.h      Data : 25.05.15        Versione : 1.6e7
// Contenuto : Strutture e costanti di macchina.      
//
//
//
// Modifiche : 25.05.15 DS Creazione modulo.
//
//
//----------------------------------------------------------------------------

#pragma once

#include "/EgtDev/Include/EGkPoint3d.h"
#include "/EgtDev/Include/EGkGdbConst.h"
#include <string>
#include <vector>

//----------------------------------------------------------------------------
// Corsa utile di un asse
union STROKE {
   struct {
      double Min ;
      double Max ;
   } ;
   double v[2] ; 
} ; 

//----------------------------------------------------------------------------
// Dati di uscita
struct MuExit {
   Point3d  ptPos ;
   Vector3d vtTDir ;
   MuExit( const Point3d& ptP, const Vector3d& vtTD)
      : ptPos( ptP), vtTDir( vtTD) {}
} ;
typedef std::vector<MuExit>  MUEXITVECTOR ;

//----------------------------------------------------------------------------
// Dati asse per catena cinematica
struct KinAxis {
   int         nGrpId ;
   bool        bLinear ;
   bool        bHead ;
   Point3d     ptPos ;
   Vector3d    vtDir ;
   STROKE      stroke ;
   double      dHomeVal ;
   bool        bFixed ;
   double      dFixVal ;
   KinAxis( void) 
      : nGrpId( GDB_ID_NULL), bLinear( true), bHead( true), ptPos(), vtDir(), dHomeVal( 0), bFixed( false), dFixVal( 0)
      { stroke.Min = 0 ; stroke.Max = 0 ; }
} ;
typedef std::vector<KinAxis>  KINAXISVECTOR ;

//----------------------------------------------------------------------------
// Tipo di tavola della macchina
enum MchTabType { MCH_TT_NONE = 0,
                  MCH_TT_FLAT = 1} ;

//----------------------------------------------------------------------------
// Tipo di assi della macchina
enum MchAxisType { MCH_AT_NONE = 0,
                   MCH_AT_LINEAR = 1,
                   MCH_AT_ROTARY = 2} ;

//----------------------------------------------------------------------------
// Tipo di testa della macchina
enum MchHeadType { MCH_HT_NONE = 0,
                   MCH_HT_STD = 1,
                   MCH_HT_MULTI = 2,
                   MCH_HT_SPECIAL = 3} ;

//----------------------------------------------------------------------------
// Identificativo iniziale riferimenti di tavola
const std::string MCH_TREF = "R" ;
// Identificativo iniziale area di tavola
const std::string MCH_TAREA ="A" ;

//----------------------------------------------------------------------------
// Identificativo iniziale gruppo uscita di teste
const std::string MCH_EXIT = "T" ;