using XP.Hardware.MotionControl.Abstractions.Enums;

namespace XP.Hardware.MotionControl.Abstractions
{
    /// <summary>
    /// 直线轴抽象基类 | Linear Axis Abstract Base Class
    /// 提供边界检查、状态管理等通用逻辑 | Provides boundary check, status management
    /// </summary>
    public abstract class LinearAxisBase : ILinearAxis
    {
        /// <summary>轴标识 | Axis identifier</summary>
        protected readonly AxisId _axisId;

        /// <summary>最小位置（mm）| Minimum position (mm)</summary>
        protected readonly double _min;

        /// <summary>最大位置（mm）| Maximum position (mm)</summary>
        protected readonly double _max;

        /// <summary>原点偏移（mm）| Origin offset (mm)</summary>
        protected readonly double _origin;

        /// <summary>轴标识 | Axis identifier</summary>
        public AxisId Id => _axisId;

        /// <summary>实际位置（mm）| Actual position (mm)</summary>
        public double ActualPosition { get; protected set; }

        /// <summary>轴状态 | Axis status</summary>
        public AxisStatus Status { get; protected set; } = AxisStatus.Idle;

        /// <summary>正限位触发 | Positive limit triggered</summary>
        public bool PositiveLimitHit { get; protected set; }

        /// <summary>负限位触发 | Negative limit triggered</summary>
        public bool NegativeLimitHit { get; protected set; }

        /// <summary>
        /// 构造函数 | Constructor
        /// </summary>
        /// <param name="axisId">轴标识 | Axis identifier</param>
        /// <param name="min">最小位置（mm）| Minimum position (mm)</param>
        /// <param name="max">最大位置（mm）| Maximum position (mm)</param>
        /// <param name="origin">原点偏移（mm）| Origin offset (mm)</param>
        protected LinearAxisBase(AxisId axisId, double min, double max, double origin)
        {
            _axisId = axisId;
            _min = min;
            _max = max;
            _origin = origin;
        }

        /// <summary>验证目标位置是否在范围内 | Validate target within range</summary>
        /// <param name="target">目标位置（mm）| Target position (mm)</param>
        /// <returns>true=在范围内，false=越界 | true=within range, false=out of range</returns>
        public bool ValidateTarget(double target) => target >= _min && target <= _max;

        /// <inheritdoc/>
        public abstract MotionResult MoveToTarget(double target, double? speed = null);

        /// <inheritdoc/>
        public abstract MotionResult JogStart(bool positive);

        /// <inheritdoc/>
        public abstract MotionResult JogStop();

        /// <inheritdoc/>
        public abstract MotionResult Home();

        /// <inheritdoc/>
        public abstract MotionResult Stop();

        /// <inheritdoc/>
        public abstract void UpdateStatus();
    }
}