using XP.Hardware.MotionControl.Abstractions.Enums;

namespace XP.Hardware.MotionControl.Abstractions
{
    /// <summary>
    /// 旋转轴策略接口 | Rotary Axis Strategy Interface
    /// 定义旋转轴的运动控制能力 | Defines rotary axis motion control capabilities
    /// </summary>
    public interface IRotaryAxis
    {
        /// <summary>轴标识 | Axis identifier</summary>
        RotaryAxisId Id { get; }

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

        /// <summary>轴状态 | Axis status</summary>
        AxisStatus Status { get; }

        /// <summary>是否启用 | Is enabled</summary>
        bool Enabled { get; }

        /// <summary>移动到目标角度 | Move to target angle</summary>
        /// <param name="targetAngle">目标角度（度）| Target angle (degrees)</param>
        /// <returns>操作结果 | Operation result</returns>
        MotionResult MoveToTarget(double targetAngle, double? speed = null);

        /// <summary>Jog 启动 | Jog start</summary>
        /// <param name="positive">true=正向，false=反向 | true=positive, false=negative</param>
        /// <returns>操作结果 | Operation result</returns>
        MotionResult JogStart(bool positive);

        /// <summary>Jog 停止 | Jog stop</summary>
        /// <returns>操作结果 | Operation result</returns>
        MotionResult JogStop();

        /// <summary>回零 | Home</summary>
        /// <returns>操作结果 | Operation result</returns>
        MotionResult Home();

        /// <summary>停止 | Stop</summary>
        /// <returns>操作结果 | Operation result</returns>
        MotionResult Stop();

        /// <summary>从 PLC 更新状态 | Update status from PLC</summary>
        void UpdateStatus();
    }
}