TeamAAS-2.5/TeamAAS.Plugins/Plugins.Motion/Models/MotionPluginModels.cs

using System.ComponentModel;
using Plugins.Motion.Core;
using PropertyGridLib.Attributes;
using PropertyGridLib.Controls;
using TeamAAS.FlowEditor.Plugins;
using TeamAAS.FlowEngine.FormulaData;

namespace Plugins.Motion.Models
{
    [System.Serializable]
    public class MotionAxisModel : BasePluginModel
    {
        [DisplayName("运动卡")]
        [Description("从已配置的运动卡中选择；选中后「轴」下拉会填充该卡的轴列表")]
        [Category("I.设备")]
        [RefreshProperties(RefreshProperties.All)]
        [TypeConverter(typeof(MotionCardNameConverter))]
        public string MotionCardName { get; set; } = "";

        [Browsable(false)]
        public int AxisNo { get; set; } = 0;

        [DisplayName("轴")]
        [Description("根据所选运动卡的轴配置自动列出；使能/下使能/停止可用「-1  全部轴」")]
        [Category("I.设备")]
        [TypeConverter(typeof(MotionAxisNoConverter))]
        public string Axis
        {
            get => MotionAxisNoConverter.Format(AxisNo, this);
            set
            {
                if (string.IsNullOrWhiteSpace(value)) return;
                AxisNo = MotionAxisNoConverter.Parse(value, this);
            }
        }

        [DisplayName("未连接时自动连接")]
        [Description("运动卡未连接时先尝试 Open")]
        [Category("II.执行选项")]
        public bool AutoConnect { get; set; } = true;
    }

    [System.Serializable]
    public class MotionEnableModel : MotionAxisModel { }

    [System.Serializable]
    public class MotionDisableModel : MotionAxisModel { }

    [System.Serializable]
    public class MotionStopModel : MotionAxisModel
    {
        [DisplayName("急停")]
        [Description("勾选后对整卡急停；不勾选则平滑停止指定轴")]
        [Category("II.执行选项")]
        public bool Emergency { get; set; } = false;
    }

    [System.Serializable]
    public class MotionWaitModel : MotionAxisModel
    {
        [DisplayName("未使能时自动使能")]
        [Description("当前轴未使能时，先自动使能再执行本节点；不勾选则未使能直接失败")]
        [Category("II.执行选项")]
        public bool AutoEnable { get; set; } = false;

        [DisplayName("等待超时(ms)")]
        [Description("等待运动完成的超时时间，0 表示不限时（仍受节点 TimeoutMs 约束）")]
        [Category("II.执行选项")]
        public int WaitTimeoutMs { get; set; } = 10000;
    }

    [System.Serializable]
    public class MotionHomeModel : MotionWaitModel
    {
        [DisplayName("回零模式")]
        [Description("0=Default，1=限位，2=Home 开关，3=Z 相")]
        [Category("III.运动参数")]
        public int HomeMode { get; set; } = 0;
    }

    [System.Serializable]
    public class MotionMoveAbsModel : MotionWaitModel
    {
        [DisplayName("目标位置")]
        [Description("绝对定位目标，可用公式绑定视觉补偿")]
        [Category("III.运动参数")]
        [FormulaEditor(typeof(PluginDataProvider))]
        public FormulaBound<double> TargetPosition { get; set; } = new FormulaBound<double>(0);

        [DisplayName("速度")]
        [Description("定位速度")]
        [Category("III.运动参数")]
        [FormulaEditor(typeof(PluginDataProvider))]
        public FormulaBound<double> Velocity { get; set; } = new FormulaBound<double>(100);

        [DisplayName("到位容差")]
        [Description("到位后实际位置与目标的允许偏差")]
        [Category("III.运动参数")]
        public double InPositionTolerance { get; set; } = 0.01;
    }

    [System.Serializable]
    public class MotionMoveRelModel : MotionWaitModel
    {
        [DisplayName("相对距离")]
        [Description("相对当前实际位置的位移，可用公式绑定")]
        [Category("III.运动参数")]
        [FormulaEditor(typeof(PluginDataProvider))]
        public FormulaBound<double> Distance { get; set; } = new FormulaBound<double>(10);

        [DisplayName("速度")]
        [Description("定位速度")]
        [Category("III.运动参数")]
        [FormulaEditor(typeof(PluginDataProvider))]
        public FormulaBound<double> Velocity { get; set; } = new FormulaBound<double>(100);

        [DisplayName("到位容差")]
        [Description("到位后实际位移与指令的允许偏差")]
        [Category("III.运动参数")]
        public double InPositionTolerance { get; set; } = 0.01;
    }
}