TeamAAS-2.5/TeamAAS.Core/TeamAAS.Robot/Interfaces/IRobot.cs

using System;
using System.Collections.Generic;
using System.Text;
using System.Threading.Tasks;
using TeamAAS.Robot.Enums;
using TeamAAS.Robot.Models;
using TeamAAS.Robot.Models.Robot;
using TeamAAS.Communication.Enums;

namespace TeamAAS.Robot.Interfaces
{
    public interface IRobot : IDisposable
    {
        #region 基础信息

        Guid Id { get; set; }

        string Name { get; set; }

        int RobotNo { get; set; }

        int RobotPort { get; }

        string RobotIp { get; }

        TCPConnectType ConnectType { get; }

        Terminator Terminator { get; }

        DataEncoding DataEncoding { get; }

        RobotBrand Brand { get; }

        /// <summary>
        /// 连接事件（clientId, sender, data）
        /// </summary>
        event Action<Guid, object, byte[]> ConnectedEvent;

        /// <summary>
        /// 断开事件（clientId, sender, data）
        /// </summary>
        event Action<Guid, object, byte[]> DisconnectedEvent;

        /// <summary>
        /// 接收数据事件（clientId, sender, data）
        /// </summary>
        event Action<Guid, object, byte[]> ReceivedEvent;

        /// <summary>
        /// 发送数据事件（clientId, sender, data）
        /// </summary>
        event Action<Guid, object, string> SendEvent;

        bool CanExecute { get; }

        int SelectedTool { get; }

        bool EnterDebugMode { get; set; }

        #endregion

        #region 连接通讯

        bool IsConnected { get; }

        int Timeout { get; set; }

        void Connect();

        Task ConnectAsync();

        void Disconnect();

        #endregion

        #region 控制

        bool Reset();

        Task<bool> ResetAsync();

        bool Motor(bool state);

        Task<bool> MotorAsync(bool state);

        bool Speed(int value);

        Task<bool> SpeedAsync(int value);

        bool Accel(int value);

        Task<bool> AccelAsync(int value);

        bool Speeds(double value);

        Task<bool> SpeedsAsync(double value);

        bool Accels(double value);

        Task<bool> AccelsAsync(double value);

        bool Speedfactor(int value);

        Task<bool> SpeedfactorAsync(int value);

        bool Power(bool state);

        Task<bool> PowerAsync(bool state);

        bool Go(RPoint position);

        Task<bool> GoAsync(RPoint position);

        bool Move(RPoint position);

        Task<bool> MoveAsync(RPoint position);

        bool Jump(RPoint position, double? LimZ);

        Task<bool> JumpAsync(RPoint position, double? LimZ);

        bool Jog(string axis, double distance);

        Task<bool> JogAsync(string axis, double distance);

        bool Joint(int joint, double distance);

        Task<bool> JointAsync(int joint, double distance);

        RPoint GetRobotPos();

        Task<RPoint> GetRobotPosAsync();

        bool SFree();

        Task<bool> SFreeAsync();

        bool SLock();

        Task<bool> SLockAsync();

        bool CalibParame(PickInfo Pick, int Speed, int Accel, bool Power, int WaitSuction, int WaitBlow);

        Task<bool> CalibParameAsync(PickInfo Pick, int Speed, int Accel, bool Power, int WaitSuction, int WaitBlow);

        List<object> GetNodesValue();

        bool CalibMotion(RPoint position, double? LimZ);

        Task<bool> CalibMotionAsync(RPoint position, double? LimZ);

        bool CalibOutIO(bool state);

        Task<bool> CalibOutIOAsync(bool state);

        bool SetTool(int index, double x, double y);

        Task<bool> SetToolAsync(int index, double x, double y);

        bool SelectTool(int index);

        Task<bool> SelectToolAsync(int index);

        #endregion

        #region 数据发送接收

        string SendAndReceive(string send);

        Task<string> SendAndReceiveAsync(string send);

        void Send(string send);

        Task SendAsync(string send);

        Encoding GetEncoding();

        #endregion
    }
}