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

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using TeamAAS.Motion.Models;
using static TeamAAS.Motion.Events.CardAxisEventArgs;

namespace TeamAAS.Motion.Interfaces
{
     public interface IMotionControl
    {
        
        // --- 1. 属性 (Properties) ---
        /// <summary>控制卡是否已连接</summary>
        bool IsConnected { get; }
        /// <summary>控制卡名称/型号</summary>
        string CardName { get; }
        /// <summary>控制卡支持的最大轴数</summary>
        int MaxAxisCount { get; }

        // --- 2. 方法 (Methods) ---

        // 2.1 设备生命周期管理
        /// <summary>连接控制卡</summary>
        /// <param name="connectionString">连接字符串，如IP地址"192.168.1.100"或设备索引号"0"[reference:5]</param>
        /// <returns>是否连接成功</returns>
        bool Connect(string connectionString);

        /// <summary>断开与控制卡的连接</summary>
        void Disconnect();

        // 2.2 获取轴对象
        /// <summary>根据轴号获取轴控制接口</summary>
        IAxis GetAxis(int axisNo);

        /// <summary>获取所有轴的控制接口列表</summary>
        IList<IAxis> GetAxes();

        // 2.3 高级运动功能（多轴协同）
        /// <summary>执行多轴直线插补运动[reference:6]</summary>
        void MoveLinear(double[] targetPositions, double velocity);

        /// <summary>执行多轴圆弧插补运动[reference:7]</summary>
        void MoveArc(double[] centerPoint, double[] targetPositions, double velocity);

        /// <summary>停止所有轴的运动（急停）</summary>
        void EmergencyStop();

        // 2.4 通用I/O操作
        /// <summary>读取数字量输入</summary>
        bool ReadDI(int portIndex);

        /// <summary>写入数字量输出</summary>
        void WriteDO(int portIndex, bool value);

        // --- 3. 事件 (Events) ---
        /// <summary>控制卡连接状态发生变化时触发</summary>
        event EventHandler<ConnectionStateChangedEventArgs> ConnectionStateChanged;

        /// <summary>控制卡发生错误时触发</summary>
        event EventHandler<ErrorOccurredEventArgs> ErrorOccurred;




    }
}