xCPS.h

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#include "/home/rfrijns/pci-dask_426/include/dask.h"
#include "/home/rfrijns/pci-dask_426/include/conio.h"
#include "IndexTable.h"
#include "CommSystem.h"
#include "Turner.h"
#include "PickPlace.h"
#include "Band.h"
#include "Stopper.h"
#include "Switch.h"
#include "Separator.h"
#include "Sensor.h"
#include "Arm.h"

#ifndef _XCPS_H
#define _XCPS_H

enum xcps_sleeps{
    turnersleep = 250,          
    pickplacesleep = 300,       
    bandsleep = 150,            
    indextablesleep = 1000      
};

class xCPS {
public:
    
    xCPS();

    void init();
    void xcps_sleep(int sleeptime);
    void shutdown();
    // Index Table functions
    void index_enable(int tablenumber);
    void index_disable(int tablenumber);
    // Turner functions
    void turn_moveUp();
    void turn_moveDown();
    void turn_enable();
    void turn_disable();
    void turn_grab();
    void turn_release();
    bool turn_isUp();
    bool turn_isDown();
    // Pick & Place functions
    void pickplace_vacuum(bool state);
    void pickplace_moveUp();
    void pickplace_moveDown();
    void pickplace_extend();
    void pickplace_retract();
    bool pickplace_isUp();
    bool pickplace_isExt();
    bool pickplace_isRetract();
    // Band functions
    void band_enable(int bandnumber);
    void band_disable(int bandnumber);
    // Stopper functions
    void stopper_enable(int stoppernumber);
    void stopper_disable(int stoppernumber);
    // Switch functions
    void switch_enable(int switchnumber);
    void switch_disable(int switchnumber);
    // Separator functions
    void separator_enable();
    void separator_disable();
    bool separator_isClosed();
    bool separator_isOpen();
    // Sensor method
    bool sensor_isUp(int sensornumber);
    // Arm methods
    void arm_move(int armnumber, char axis, int position);
    void arm_enable(int armnumber);
    void arm_grab(int armnumber);
    void arm_release(int armnumber);
    bool arm_isReady(int armnumber);

    

protected:
    Arm arm1;
    Arm arm2;
    IndexTable indextable1;
    IndexTable indextable2;
    CommSystem comm;
    Turner turner;
    PickPlace pplace;
    Band belt1;
    Band belt2;
    Band belt3;
    Band belt4;
    Band belt5;
    Band belt6;
    Stopper stopper14;
    Stopper stopper11;
    Stopper stopper18;
    Stopper stopper12;
    Stopper stopper16;
    Stopper stopperband5;
    Switch switchindex2band4;
    Switch switchband2band6;
    Switch switch100;
    Switch switch200;
    Switch switchband5;
    Separator separate;
    Sensor sensorband2nr4;
    Sensor sensorband2nr1;
    Sensor sensorband2nr2;
    Sensor sensorband2nr6;
    Sensor sensorband2index2;
    Sensor sensorband3pickplace;
    Sensor sensorband4nr9;
    Sensor sensorband6nr7;
    Sensor sensorband4nr10;
    Sensor sensorband2nr3;
    Sensor posband2switch;          // Index table 2 in position at switch of band 2? (High if yes)
    Sensor posindex2pickplace;      // Index table 2 in position at Pick & Place? (High if yes)
    Sensor sensorband5nr20;
    Sensor sensorband5nr10;
    Sensor sensorgriparm2;
    Sensor sensorband1nr21;
    Sensor sensorgriparm1;
    Sensor posindex1band5;          // Position index table 1, at belt 5 ? (High if yes)
    Sensor posindex1sepa;           // Position index table 1, at separator? (High if yes)

    I16 _Card0;
    I16 _Card1;
    I16 _Card2;
    I16 _Read0;

    int _out0;
    int _out1;
    int _out2;
    U32 _in0;
    U32 _in1;

    int arm1position;
    int arm2position;

};

#endif //_XCPS_H