TeamAAS-2.5/TeamAAS.Core/TeamAAS.Motion/Interfaces/IAxis.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using TeamAAS.Global.Devices;
using static TeamAAS.Motion.Enums.MotionEnums;
using static TeamAAS.Motion.Events.CardAxisEventArgs;

namespace TeamAAS.Motion.Interfaces
{
    /// <summary>
    /// 单轴控制接口
    /// </summary>
    public interface IAxis
    {
        // --- 1. 属性 (Properties) ---
        /// <summary>轴号</summary>
        int AxisNo { get; }

        /// <summary>轴名称（如 "X", "Y", "Z"）</summary>
        string Name { get; set; }

        // 1.1 状态属性
        /// <summary>轴当前状态（使能、运动中、错误等）[reference:9]</summary>
        AxisState State { get; }

        /// <summary>轴是否已使能</summary>
        bool IsEnabled { get; }

        /// <summary>轴是否正在运动中</summary>
        bool IsMoving { get; }

        /// <summary>轴是否已完成回零</summary>
        bool IsHomed { get; }

        // 1.2 位置与速度属性
        /// <summary>指令位置（控制器发送的目标位置）</summary>
        double CommandPosition { get; }

        /// <summary>实际反馈位置（来自编码器）[reference:10]</summary>
        double ActualPosition { get; }

        /// <summary>实际反馈速度</summary>
        double ActualVelocity { get; }

        // 1.3 运动参数属性[reference:12]
        /// <summary>运行速度</summary>
        double Velocity { get; set; }

        /// <summary>加速度</summary>
        double Acceleration { get; set; }

        /// <summary>减速度</summary>
        double Deceleration { get; set; }

        /// <summary>加加速度（S曲线平滑因子）</summary>
        double Jerk { get; set; }

        // --- 2. 方法 (Methods) ---

        // 2.1 使能与控制
        /// <summary>使能轴（开启伺服）</summary>
        void Enable();

        /// <summary>关闭轴使能</summary>
        void Disable();

        // 2.2 运动指令[reference:14]
        /// <summary>绝对运动：移动到指定绝对位置</summary>
        void MoveTo(double position);

        /// <summary>相对运动：从当前位置移动指定距离</summary>
        void MoveBy(double distance);

        /// <summary>点动/连续运动：以指定速度持续运动</summary>
        void Jog(double velocity);

        /// <summary>停止运动（以设定减速度减速停止）</summary>
        void Stop();

        // 2.3 回零操作[reference:15]
        /// <summary>执行回零操作</summary>
        /// <param name="mode">回零模式</param>
        void Home(HomeMode mode = HomeMode.Default);

        // 2.4 参数与位置设定
        /// <summary>设置当前位置（用于建立坐标系）</summary>
        void SetPosition(double position);

        /// <summary>批量设置运动参数</summary>
        void SetMotionParams(MotionParams parameters);

        // --- 3. 事件 (Events) ---
        /// <summary>轴开始运动时触发</summary>
        event EventHandler<AxisMotionEventArgs> MotionStarted;

        /// <summary>轴运动完成时触发</summary>
        event EventHandler<AxisMotionEventArgs> MotionCompleted;

        /// <summary>轴状态发生变化时触发</summary>
        event EventHandler<AxisStateChangedEventArgs> StateChanged;

        /// <summary>轴发生错误时触发</summary>
        event EventHandler<AxisErrorEventArgs> ErrorOccurred;
    }
}