NexMotionDef.h

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#ifndef   __NEXMOTION_DEF_H
#define   __NEXMOTION_DEF_H

#include "nex_type.h"

#define NMC_DEVICE_TYPE_SIMULATOR           (0)   
#define NMC_DEVICE_TYPE_ETHERCAT            (1)   

#define NMC_WAIT_TIME_INFINITE              (0xFFFFFFFF)  


#define NMC_DEVICE_STATE_INIT               (1)   
#define NMC_DEVICE_STATE_READY              (2)   
#define NMC_DEVICE_STATE_ERROR              (3)   
#define NMC_DEVICE_STATE_OPERATION          (4)   

#define NMC_SAFETY_STATE_DISABLE            (0)
#define NMC_SAFETY_STATE_READY              (1)
#define NMC_SAFETY_STATE_ERROR              (2)

#define NMC_SAFETY_MODE_OP_T1               (0)
#define NMC_SAFETY_MODE_OP_T2               (1)
#define NMC_SAFETY_MODE_OP_AUT              (2)

#define NMC_SAFETY_WDT_TIMEOUT_STOP0        (0)
#define NMC_SAFETY_WDT_TIMEOUT_STOP1        (1)

#define NMC_COORD_MCS                       (0)   
#define NMC_COORD_PCS                       (1)   
#define NMC_COORD_ACS                       (2)   

#define NMC_AXIS_STATE_DISABLE              (0)   
#define NMC_AXIS_STATE_STAND_STILL          (1)   
#define NMC_AXIS_STATE_HOMING               (2)   
#define NMC_AXIS_STATE_DISCRETE_MOTION      (3)   
#define NMC_AXIS_STATE_CONTINUOUS_MOTION    (4)   
#define NMC_AXIS_STATE_STOPPING             (5)   
#define NMC_AXIS_STATE_STOPPED              (6)   
#define NMC_AXIS_STATE_WAIT_SYNC            (7)   
#define NMC_AXIS_STATE_GROUP_MOTION         (8)
#define NMC_AXIS_STATE_ERROR                (10)  

#define NMC_AXIS_STATUS_EMG                 (0)   
#define NMC_AXIS_STATUS_ALM                 (1)   
#define NMC_AXIS_STATUS_PEL                 (2)   
#define NMC_AXIS_STATUS_NEL                 (3)   
#define NMC_AXIS_STATUS_PSEL                (4)   
#define NMC_AXIS_STATUS_NSEL                (5)   
#define NMC_AXIS_STATUS_ENA                 (6)   
#define NMC_AXIS_STATUS_ERR                 (7)   
#define NMC_AXIS_STATUS_TAR                 (8)   
#define NMC_AXIS_STATUS_CSTP                (9)   
#define NMC_AXIS_STATUS_ACC                 (10)  
#define NMC_AXIS_STATUS_DEC                 (11)  
#define NMC_AXIS_STATUS_MV                  (12)  
#define NMC_AXIS_STATUS_OP                  (13)  
#define NMC_AXIS_STATUS_STOP                (14)  
#define NMC_AXIS_STATUS_RPEL                (16)  
#define NMC_AXIS_STATUS_RNEL                (17)  
#define NMC_AXIS_STATUS_RHOM                (18)  

#define NMC_AXIS_STATUS_MASK_EMG            (0x00000001)  
#define NMC_AXIS_STATUS_MASK_ALM            (0x00000002)  
#define NMC_AXIS_STATUS_MASK_PEL            (0x00000004)  
#define NMC_AXIS_STATUS_MASK_NEL            (0x00000008)  
#define NMC_AXIS_STATUS_MASK_PSEL           (0x00000010)  
#define NMC_AXIS_STATUS_MASK_NSEL           (0x00000020)  
#define NMC_AXIS_STATUS_MASK_ENA            (0x00000040)  
#define NMC_AXIS_STATUS_MASK_ERR            (0x00000080)  
#define NMC_AXIS_STATUS_MASK_TAR            (0x00000100)  
#define NMC_AXIS_STATUS_MASK_CSTP           (0x00000200)  
#define NMC_AXIS_STATUS_MASK_ACC            (0x00000400)  
#define NMC_AXIS_STATUS_MASK_DEC            (0x00000800)  
#define NMC_AXIS_STATUS_MASK_MV             (0x00001000)  
#define NMC_AXIS_STATUS_MASK_OP             (0x00002000)  
#define NMC_AXIS_STATUS_MASK_STOP           (0x00004000)  
#define NMC_AXIS_STATUS_MASK_RPEL           (0x00010000)  
#define NMC_AXIS_STATUS_MASK_RNEL           (0x00020000)  
#define NMC_AXIS_STATUS_MASK_RHOM           (0x00040000)  

#define NMC_GROUP_STATE_DISABLE             (0)   
#define NMC_GROUP_STATE_STAND_STILL         (1)   
#define NMC_GROUP_STATE_STOPPED             (2)   
#define NMC_GROUP_STATE_STOPPING            (3)   
#define NMC_GROUP_STATE_MOVING              (4)   
#define NMC_GROUP_STATE_HOMING              (5)   
#define NMC_GROUP_STATE_ERROR               (6)   

#define NMC_GROUP_STATUS_EMG                (0)   
#define NMC_GROUP_STATUS_ALM                (1)   
#define NMC_GROUP_STATUS_PEL                (2)   
#define NMC_GROUP_STATUS_NEL                (3)   
#define NMC_GROUP_STATUS_PSEL               (4)   
#define NMC_GROUP_STATUS_NSEL               (5)   
#define NMC_GROUP_STATUS_ENA                (6)   
#define NMC_GROUP_STATUS_ERR                (7)   
#define NMC_GROUP_STATUS_CSTP               (9)   
#define NMC_GROUP_STATUS_ACC                (10)  
#define NMC_GROUP_STATUS_DEC                (11)  
#define NMC_GROUP_STATUS_MV                 (12)  
#define NMC_GROUP_STATUS_OP                 (13)  
#define NMC_GROUP_STATUS_STOP               (14)  

#define NMC_GROUP_STATUS_MASK_EMG           (0x00000001)
#define NMC_GROUP_STATUS_MASK_ALM           (0x00000002)
#define NMC_GROUP_STATUS_MASK_PEL           (0x00000004)
#define NMC_GROUP_STATUS_MASK_NEL           (0x00000008)
#define NMC_GROUP_STATUS_MASK_PSEL          (0x00000010)
#define NMC_GROUP_STATUS_MASK_NSEL          (0x00000020)
#define NMC_GROUP_STATUS_MASK_ENA           (0x00000040)
#define NMC_GROUP_STATUS_MASK_ERR           (0x00000080)
#define NMC_GROUP_STATUS_MASK_CSTP          (0x00000200)
#define NMC_GROUP_STATUS_MASK_ACC           (0x00000400)
#define NMC_GROUP_STATUS_MASK_DEC           (0x00000800)
#define NMC_GROUP_STATUS_MASK_MV            (0x00001000)
#define NMC_GROUP_STATUS_MASK_OP            (0x00002000)
#define NMC_GROUP_STATUS_MASK_STOP          (0x00004000)

#define NMC_MAX_AXES_IN_GROUP               (8)

#define NMC_MAX_POS_SIZE                    (8)

#define NMC_MAX_XYZ_SIZE                    (3)

#define NMC_MAX_AXIS_POS_SIZE               (NMC_MAX_AXES_IN_GROUP)

#define NMC_MAX_CARTESIAN_POS_SIZE          (6)

#define NMC_GROUP_AXIS_X                    (0) 
#define NMC_GROUP_AXIS_Y                    (1) 
#define NMC_GROUP_AXIS_Z                    (2) 
#define NMC_GROUP_AXIS_A                    (3) 
#define NMC_GROUP_AXIS_B                    (4) 
#define NMC_GROUP_AXIS_C                    (5) 
#define NMC_GROUP_AXIS_U                    (6) 
#define NMC_GROUP_AXIS_V                    (7) 

#define NMC_GROUP_AXIS_MASK_X               (0x00000001)  
#define NMC_GROUP_AXIS_MASK_Y               (0x00000002)  
#define NMC_GROUP_AXIS_MASK_Z               (0x00000004)  
#define NMC_GROUP_AXIS_MASK_A               (0x00000008)  
#define NMC_GROUP_AXIS_MASK_B               (0x00000010)  
#define NMC_GROUP_AXIS_MASK_C               (0x00000020)  
#define NMC_GROUP_AXIS_MASK_U               (0x00000040)  
#define NMC_GROUP_AXIS_MASK_V               (0x00000080)  
#define NMC_GROUP_AXIS_MASK_ALL             (0x000000FF)  

#define NMC_TRACE_MODE_DISABLE              (0)   
#define NMC_TRACE_MODE_ERROR                (1)   
#define NMC_TRACE_MODE_ALL                  (2)   

#define NMC_MAX_MSG_SOURCE_SIZE             (128)
#define NMC_MAX_MSG_TEXT_SIZE               (1024)
#define NMC_MSG_TYPE_NORMAL                 (0)
#define NMC_MSG_TYPE_WARNING                (1)
#define NMC_MSG_TYPE_ERROR                  (2)
#define NMC_MSG_TYPE_DEBUGING               (3)

#define NMC_MEM_ENTRY_NAME_SIZE             (128)
#define NMC_MEM_ENTRY_CLASS_DIO             (0)
#define NMC_MEM_ENTRY_CLASS_DATA            (1)

#define NMC_MAX_POSE_DATA_SIZE              (6)

#define NMC_TOOL_NONE                       (-1)
#define NMC_BASE_NONE                       (-1)

#define  RCFG_BIT0       0
#define  RCFG_BIT1       1
#define  RCFG_BIT2       2
#define  RCFG_SIZE       4
#define  RCFG_1          0
#define  RCFG_4          1
#define  RCFG_6          2
#define  RCFG_X          3
#define  RCFG_OPTION     10
#define  RCFG_INI        20
#define  RCFG_UNUSE      30

typedef struct
{
    // For Cartesian space(MCS,PCS) : X, Y, Z, A, B, C, U, V
    // For Axis space(ACS): Axis 0 ~ 7
    F64_T pos[NMC_MAX_POS_SIZE];
} Pos_T;


typedef struct
{
    // For Cartesian space(MCS,PCS) : X, Y, Z,
    F64_T pos[NMC_MAX_XYZ_SIZE];
} Xyz_T;


typedef struct
{
    F64_T aPos[NMC_MAX_AXIS_POS_SIZE];
} APos_T;


typedef struct
{
    F64_T  cPos[NMC_MAX_CARTESIAN_POS_SIZE];
} CPos_T;

typedef struct
{
    I32_T rc1;
    I32_T rc2;
    I32_T rc3;
    I32_T rc4;
} RCfg_T;

typedef struct
{
    // To describe a position in Cartesian space(MCS,PCS) : X, Y, Z, A, B, C
    CPos_T  cPos;
    RCfg_T  rCfg;
} RCPos_T;

typedef struct
{
    // To describe the coordinate transformation between two coordinate systems: (x, y, z, roll, pitch, yaw)
    // (x,y,z) for translation, (r,p,y) for rotation
    F64_T pose[NMC_MAX_POSE_DATA_SIZE];
} CoordTrans_T;


typedef void(*PF_NmcHookAPI)( const void *FPFuncAddress , const char *PFuncName, RTN_ERR ReturnCode, void *PUserData );

#pragma  pack(push, 1)

typedef struct
{
    U32_T year;         
    U32_T month;        
    U32_T day;          
    U32_T hour;         
    U32_T minute;       
    U32_T second;       
    U32_T milliseconds; 
} NmcTime_T;


typedef struct
{
    U32_T       sizeOfStruct;   
    NmcTime_T   localTime;      
    U32_T       index;          
    I32_T       type;           
    char        source[NMC_MAX_MSG_SOURCE_SIZE];  
    I32_T       id;             
    I32_T       code;           
    char        text[NMC_MAX_MSG_TEXT_SIZE];  
} NmcMsg_T;
#pragma pack(pop)


typedef struct
{
    U32_T bitStartOffset;
    U32_T bitLen;
    U32_T dataType;
    U32_T fclass;
    char  name[NMC_MEM_ENTRY_NAME_SIZE];
}MemEntryInfo_T;

//                      Obsolete definition

#define MAX_POS_SIZE                        (NMC_MAX_POS_SIZE)  
#define MAX_XYZ_SIZE                        (NMC_MAX_XYZ_SIZE)  

// Group axis index definition
#define GROUP_AXIS_X                        (0) 
#define GROUP_AXIS_Y                        (1) 
#define GROUP_AXIS_Z                        (2) 
#define GROUP_AXIS_A                        (3) 
#define GROUP_AXIS_B                        (4) 
#define GROUP_AXIS_C                        (5) 
#define GROUP_AXIS_U                        (6) 
#define GROUP_AXIS_V                        (7) 

// Group axis mask definition
#define GROUP_AXIS_MASK_X                   (0x00000001)  
#define GROUP_AXIS_MASK_Y                   (0x00000002)  
#define GROUP_AXIS_MASK_Z                   (0x00000004)  
#define GROUP_AXIS_MASK_A                   (0x00000008)  
#define GROUP_AXIS_MASK_B                   (0x00000010)  
#define GROUP_AXIS_MASK_C                   (0x00000020)  
#define GROUP_AXIS_MASK_U                   (0x00000040)  
#define GROUP_AXIS_MASK_V                   (0x00000080)  

#endif