TeamAAS-2.5/TeamAAS.Base/TeamAAS.Global/Devices/MotionAxisContracts.cs

using System;
using System.Collections.Generic;

namespace TeamAAS.Global.Devices
{
    /// <summary>轴的整体状态。</summary>
    public enum AxisState
    {
        Off,
        StandStill,
        DiscreteMotion,
        ContinuousMotion,
        Homing,
        Error
    }

    /// <summary>回零模式。</summary>
    public enum HomeMode
    {
        Default,
        LimitSwitch,
        HomeSwitch,
        ZPhase
    }

    /// <summary>运动参数。</summary>
    public class MotionParams
    {
        public double Velocity { get; set; }
        public double Acceleration { get; set; }
        public double Deceleration { get; set; }
        public double Jerk { get; set; }
    }

    public class AxisEventArgs : EventArgs
    {
        public int AxisNo { get; }
        public AxisEventArgs(int axisNo) => AxisNo = axisNo;
    }

    public class AxisMotionEventArgs : AxisEventArgs
    {
        public double TargetPosition { get; }
        public double ActualPosition { get; }

        public AxisMotionEventArgs(int axisNo, double target, double actual) : base(axisNo)
        {
            TargetPosition = target;
            ActualPosition = actual;
        }
    }

    public class AxisStateChangedEventArgs : AxisEventArgs
    {
        public AxisState OldState { get; }
        public AxisState NewState { get; }

        public AxisStateChangedEventArgs(int axisNo, AxisState oldState, AxisState newState) : base(axisNo)
        {
            OldState = oldState;
            NewState = newState;
        }
    }

    public class AxisErrorEventArgs : AxisEventArgs
    {
        public string ErrorMessage { get; }
        public AxisErrorEventArgs(int axisNo, string message) : base(axisNo) => ErrorMessage = message;
    }

    public class MotionConnectionStateChangedEventArgs : EventArgs
    {
        public bool Connected { get; }
        public MotionConnectionStateChangedEventArgs(bool connected) => Connected = connected;
    }

    public class MotionErrorEventArgs : EventArgs
    {
        public string ErrorMessage { get; }
        public MotionErrorEventArgs(string message) => ErrorMessage = message;
    }

    /// <summary>
    /// 单轴控制接口（调试/UI 门面；流程层优先使用 <see cref="IMotionCard"/> 索引 API）。
    /// </summary>
    public interface IAxis
    {
        int AxisNo { get; }
        string Name { get; set; }

        AxisState State { get; }
        bool IsEnabled { get; }
        bool IsMoving { get; }
        bool IsHomed { get; }

        double CommandPosition { get; }
        double ActualPosition { get; }
        double ActualVelocity { get; }

        double Velocity { get; set; }
        double Acceleration { get; set; }
        double Deceleration { get; set; }
        double Jerk { get; set; }

        void Enable();
        void Disable();
        void MoveTo(double position);
        void MoveBy(double distance);
        void Jog(double velocity);
        void Stop();
        void Home(HomeMode mode = HomeMode.Default);
        void SetPosition(double position);
        void SetMotionParams(MotionParams parameters);

        event EventHandler<AxisMotionEventArgs> MotionStarted;
        event EventHandler<AxisMotionEventArgs> MotionCompleted;
        event EventHandler<AxisStateChangedEventArgs> StateChanged;
        event EventHandler<AxisErrorEventArgs> ErrorOccurred;
    }
}