using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Web;

namespace TeamAAS_VP.Core.Robots
{
    /// <summary>
    /// Represents command node names for an axis.
    /// </summary>
    public class AxisCommand
    {
        /// <summary>
        /// 使能，Bool类型
        /// </summary>
        public string PowerNode { get; set; }
        /// <summary>
        /// 停止,Bool类型
        /// </summary>
        public string StopNode { get; set; }
        /// <summary>
        /// 手动回原,Bool类型
        /// </summary>
        public string ManuToHomeNode { get; set; }
        /// <summary>
        /// 自动回原,Bool类型
        /// </summary>
        public string AutoToHomeNode { get; set; }
        /// <summary>
        /// 手动J0G+,Bool类型
        /// </summary>
        public string ManuJogFowardNode { get; set; }
        /// <summary>
        /// 手动J0G-,Bool类型
        /// </summary>
        public string ManuJogBackwardNode { get; set; }
        /// <summary>
        /// 速度模式控制,Bool类型
        /// </summary>
        public string VelocityControlNode { get; set; }
        /// <summary>
        /// 速度模式变速,Bool类型
        /// </summary>
        public string VelocityChangeNode { get; set; }
        /// <summary>
        /// 自动相对运动,Int类型
        /// </summary>
        public string AutoINCNode { get; set; }
        /// <summary>
        /// 自动绝对运动，Int类型
        /// </summary>
        public string AutoABSNode { get; set; }
        /// <summary>
        /// 转矩控制运动，Int类型
        /// </summary>
        public string TorqueNode { get; set; }
        /// <summary>
        /// 点位选择,Int类型
        /// </summary>
        public string PointSelectNode { get; set; }
        /// <summary>
        /// 示教使能,Bool类型
        /// </summary>
        public string TeachOnNode { get; set; }
        /// <summary>
        /// 示教位置,Bool类型
        /// </summary>
        public string TeachNode { get; set; }
        /// <summary>
        /// 手动绝对运动点位,Bool类型
        /// </summary>
        public string ManuPointNode { get; set; }
        /// <summary>
        /// 手动绝对运动指定位置,Bool类型
        /// </summary>
        public string ManuPositionNode { get; set; }
    }

    /// <summary>
    /// Represents parameter node names for an axis.
    /// </summary>
    public class AxisParameter
    {
        /// <summary>
        /// 手动定位点位,Real类型
        /// </summary>
        public string ManuPositionNode { get; set; }
        /// <summary>
        /// 手动定位速度,Real类型
        /// </summary>
        public string ManuVelocityNode { get; set; }
        /// <summary>
        /// 速度模式定位速度,Real类型
        /// </summary>
        public string VelModeVelocityNode { get; set; }
        /// <summary>
        /// 轴名称,String类型
        /// </summary>
        public string CommentNode { get; set; }
    }

    /// <summary>
    /// Represents state node names for an axis.
    /// </summary>
    public class AxisState
    {
        /// <summary>
        /// 轴已使能,Bool类型
        /// </summary>
        public string PowerOnNode { get; set; }
        /// <summary>
        /// 运转中,Bool类型
        /// </summary>
        public string BusyNode { get; set; }
        /// <summary>
        /// 定位完成,Bool类型
        /// </summary>
        public string PosOKNode { get; set; }
        /// <summary>
        /// 回原完成,Bool类型
        /// </summary>
        public string InitialedNode { get; set; }
        /// <summary>
        /// 轴暂停中,Bool类型
        /// </summary>
        public string PausedNode { get; set; }
        /// <summary>
        /// 轴正转中,Bool类型
        /// </summary>
        public string PosiNode { get; set; }
        /// <summary>
        /// 轴反转中,Bool类型
        /// </summary>
        public string NegaNode { get; set; }
        /// <summary>
        /// 错误,Bool类型
        /// </summary>
        public string ErrorNode { get; set; }
        /// <summary>
        /// 错误代码,Int类型
        /// </summary>
        public string ErrorIdNode { get; set; }
        /// <summary>
        /// 实际位置,Real类型
        /// </summary>
        public string ActPositionNode { get; set; }
        /// <summary>
        /// 实际速度,Real类型
        /// </summary>
        public string ActVelocityNode { get; set; }
        /// <summary>
        /// 实际扭矩,Real类型
        /// </summary>
        public string ActTorqueNode { get; set; }
        /// <summary>
        /// 停止位置,Real类型
        /// </summary>
        public string StopPositionNode { get; set; }
        /// <summary>
        /// 绝对位置点位,Real类型
        /// </summary>
        public string HmiPositionNode { get; set; }
        /// <summary>
        /// 运动时间,Int类型
        /// </summary>
        public string SpTimeNode { get; set; }
        /// <summary>
        /// 轴状态,Int类型
        /// </summary>
        public string StateNode { get; set; }
    }

    /// <summary>
    /// Axis model that groups command, parameter and state node names.
    /// </summary>
    public class Axis
    {
        public Axis()
        {
            Command = new AxisCommand();
            Parameter = new AxisParameter();
            State = new AxisState();
        }

        public Axis(string name, int index) : this()
        {
            Name = name;
            Index = index;
        }

        /// <summary>
        /// Logical name of the axis, e.g. "X","Y","Z","U" or "A1".
        /// </summary>
        public string Name { get; set; }

        /// <summary>
        /// Axis index (1-based) when applicable.
        /// </summary>
        public int Index { get; set; }

        public AxisCommand Command { get; set; }

        public AxisParameter Parameter { get; set; }

        public AxisState State { get; set; }
    }
}