using XP.Hardware.MotionControl.Abstractions.Enums;

namespace XP.Hardware.MotionControl.Abstractions
{
    /// <summary>
    /// 旋转轴抽象基类 | Rotary Axis Abstract Base Class
    /// 提供角度边界检查、启用状态管理等通用逻辑 | Provides angle boundary check, enabled status management
    /// </summary>
    public abstract class RotaryAxisBase : IRotaryAxis
    {
        /// <summary>轴标识 | Axis identifier</summary>
        protected readonly RotaryAxisId _axisId;

        /// <summary>最小角度（度）| Minimum angle (degrees)</summary>
        protected readonly double _minAngle;

        /// <summary>最大角度（度）| Maximum angle (degrees)</summary>
        protected readonly double _maxAngle;

        /// <summary>是否启用 | Is enabled</summary>
        protected readonly bool _enabled;

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

        /// <summary>实际角度（度）| Actual angle (degrees)</summary>
        public double ActualAngle { get; protected set; }

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

        /// <summary>是否启用 | Is enabled</summary>
        public bool Enabled => _enabled;

        /// <summary>
        /// 构造函数 | Constructor
        /// </summary>
        /// <param name="axisId">轴标识 | Axis identifier</param>
        /// <param name="minAngle">最小角度（度）| Minimum angle (degrees)</param>
        /// <param name="maxAngle">最大角度（度）| Maximum angle (degrees)</param>
        /// <param name="enabled">是否启用 | Is enabled</param>
        protected RotaryAxisBase(RotaryAxisId axisId, double minAngle, double maxAngle, bool enabled)
        {
            _axisId = axisId;
            _minAngle = minAngle;
            _maxAngle = maxAngle;
            _enabled = enabled;
        }

        /// <summary>验证目标角度是否在范围内 | Validate target angle within range</summary>
        /// <param name="targetAngle">目标角度（度）| Target angle (degrees)</param>
        /// <returns>true=在范围内，false=越界 | true=within range, false=out of range</returns>
        public bool ValidateTarget(double targetAngle) => targetAngle >= _minAngle && targetAngle <= _maxAngle;

        /// <inheritdoc/>
        public abstract MotionResult MoveToTarget(double targetAngle, 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();
    }
}