// © RiceMotion ( Robert Carl Rice ) 2012-2016 - All rights reserved


// This software makes use of tools and libraries obtained from open source projects or released for

// use by relevant hardware manufactures. However, this software is NOT a part of any open source project.

// It is released only on a "need to know" basis for beta testers of the "RiceCNC Interpolation Engine".

// Recipents of this source code must respect the confidential nature of this software and prevent any

// distribution that could result in counterfeit copies of the "RiceCNC Interpolation Engine".


// © RiceMotion ( Robert Carl Rice ) 2012-2016 - All rights reserved

#ifndef Spline_h

#define Spline_h


#include "Energia.h"

#include <Command.h>

#include <Machine.h>


class SplineAxis;

class Axis;



typedef void (SplineAxis::*BroadcastToSplineAxes)();


// This class performs interpolations linear and cubic Bezier

class Spline : public Command {

     static const char myName[7];


    void               calculateProgramTarget();

    void               broadcastToSplineAxes(

          BroadcastToSplineAxes method );


     public:

     virtual const char*

          name();


    Spline(

          char*,

          Axis*          firstMachineAxis,

          String*          msgPtr );

    ~Spline();


    SplineAxis*     firstAxis;

     StepControl          stepControl;

    bool               aborting;


    bool               execute(

          Machine*     machine );


    void               trackPadJogAbort(

          Machine*     machine );


    void               report(

          Machine*     machine,

          String*          msgPtr );


     void               reportInterpolationStatus(

          Machine*     machine,

          String*          msgPtr );

};

#endif