using System.Collections.Generic;
using XP.Hardware.MotionControl.Abstractions.Enums;

namespace XP.Hardware.MotionControl.Abstractions
{
    /// <summary>
    /// 运动系统顶层管理接口 | Motion System Top-Level Management Interface
    /// 持有所有轴和安全门实例 | Holds all axis and safety door instances
    /// </summary>
    public interface IMotionSystem
    {
        /// <summary>按 AxisId 获取直线轴 | Get linear axis by AxisId</summary>
        /// <param name="axisId">直线轴标识 | Linear axis identifier</param>
        /// <returns>直线轴实例 | Linear axis instance</returns>
        ILinearAxis GetLinearAxis(AxisId axisId);

        /// <summary>按 RotaryAxisId 获取旋转轴 | Get rotary axis by RotaryAxisId</summary>
        /// <param name="axisId">旋转轴标识 | Rotary axis identifier</param>
        /// <returns>旋转轴实例 | Rotary axis instance</returns>
        IRotaryAxis GetRotaryAxis(RotaryAxisId axisId);

        /// <summary>安全门实例 | Safety door instance</summary>
        ISafetyDoor SafetyDoor { get; }

        /// <summary>轴复位实例 | Axis reset instance</summary>
        IAxisReset AxisReset { get; }

        /// <summary>所有直线轴 | All linear axes</summary>
        IReadOnlyDictionary<AxisId, ILinearAxis> LinearAxes { get; }

        /// <summary>所有旋转轴 | All rotary axes</summary>
        IReadOnlyDictionary<RotaryAxisId, IRotaryAxis> RotaryAxes { get; }

        /// <summary>更新所有轴和门的状态 | Update all axis and door status</summary>
        void UpdateAllStatus();
    }
}