/*****************************************************************************
 -                                                                           -
 -                    POLONY SEQUENCER ACQUISITION SUITE                     -
 -                                Church Lab                                 -
 -                          Harvard Medical School                           -
 -                                                                           -
 -    Free software for running a Polony Sequencing automated microscope     -
 -                                                                           -
 - ========================================================================= -
 -                                                                           -
 -                                                                           -
 - cpifoc.cpp                                                                -
 -                                                                           -
 -   Interface class to Physik Instrumente Pifoc controller API              -
 -                                                                           -
 -   Written by Greg Porreca, 02-15-2006                                     -
 -                                                                           -
 - Revised                                                                   -
 -                                                                           -
 -                                                                           -
 - This software may be used, modified, and distributed freely, but this     -
 - header may not be modified and must appear at the top of this file.       -
 -                                                                           -
 -                                                                           -
 *****************************************************************************/

/******************************************************************************
*******************************************************************************
**** File: CPifoc.cpp                                                      ****
******************************************************************************/

#include "CPifoc.h"
#include "E816_DLL.h"
#include <stdio.h>

#define TRUE 1
#define FALSE 0

#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif

#define nPortNr 1
#define BaudRate 115200
#define szAxes "A"


CPifoc::CPifoc(Reporter* rep){
	r = rep;
}


CPifoc::~CPifoc(){
}


bool CPifoc::Init()
{
	pbValarray = 1;
	const int ID = E816_ConnectRS232(nPortNr, BaudRate);
	if(ID==-1){
		fprintf(stderr, "ERROR: pifoc is not responding on COM%d at baud = %ld\n", nPortNr, BaudRate);
		return 0;
	}
	if(E816_SVO(ID, szAxes, &pbValarray)==0){
		fprintf(stderr, "Unable to set servo on for pifoc.\n");
	}
	return 1;
}


void CPifoc::Close()
{
	E816_CloseConnection(ID);
}


bool CPifoc::SetPosition(double z){	
//	fprintf(stderr, "setpos about to command the pifoc.  press enter.\n");
//	while(!(getc(stdin))){;}

	if(E816_MOV(ID, szAxes, &z) == 0){
		fprintf(stderr, "ERROR (CPifoc:SetPosition()) command MOV not responding\n");
		fprintf(stderr, "ERROR %d returned.\n", E816_GetError(ID));
		return 0;
	}
		
	return 1;
}


bool CPifoc::SetPositionRelative(double z){	

	if(E816_MVR(ID, szAxes, &z) == 0){
		fprintf(stderr, "ERROR (CPifoc:SetPosition()) command MVR not responding\n");
		fprintf(stderr, "ERROR %d returned.\n", E816_GetError(ID));
		return 0;
	}
		
	return 1;
}


bool CPifoc::ConfirmPosition(){
	//fprintf(stderr, "confirmpos about to command the pifoc.  press enter.\n");
	//while(!(getc(stdin))){;}

	if(E816_qONT(ID, szAxes, &pbOnTarget)==0){
		fprintf(stderr, "ERROR (CPifoc:ConfirmPosition()) command qONT not responding\n");
		fprintf(stderr, "ERROR %d returned.\n", E816_GetError(ID));
		return false;
	}

	if(pbOnTarget == 1){
		return true;
	}
	else{
		return false;
	}
}



double CPifoc::GetPos(){
//	fprintf(stderr, "getpos about to command the pifoc.  press enter.\n");
//	while(!(getc(stdin))){;}
	if(E816_qPOS(ID, szAxes, &currPos) == 0){
		fprintf(stderr, "ERROR (CPifoc:GetPos()) command qPOS not responding\n");
		fprintf(stderr, "ERROR %d returned.\n", E816_GetError(ID));
		return 0;
	}
	return currPos;
}