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

namespace XP.Hardware.MotionControl.Config
{
    /// <summary>
    /// 运动控制配置实体 | Motion Control Configuration Entity
    /// 包含所有轴、安全门、几何原点和运行参数的配置 | Contains all axis, safety door, geometry origin and runtime parameter configurations
    /// </summary>
    public class MotionControlConfig
    {
        /// <summary>直线轴配置字典 | Linear axis configurations</summary>
        public Dictionary<AxisId, LinearAxisConfig> LinearAxes { get; set; } = new();

        /// <summary>旋转轴配置字典 | Rotary axis configurations</summary>
        public Dictionary<RotaryAxisId, RotaryAxisConfig> RotaryAxes { get; set; } = new();

        /// <summary>几何原点配置 | Geometry origin configuration</summary>
        public GeometryConfig Geometry { get; set; } = new();

        /// <summary>轮询周期（ms）| Polling interval (ms)</summary>
        public int PollingInterval { get; set; } = 100;

        /// <summary>默认速度| Default velocity</summary>
        public int DefaultVelocity { get; set; } = 100;
    }

    /// <summary>
    /// 直线轴配置 | Linear Axis Configuration
    /// 每个直线轴包含运动范围、原点偏移 | Each linear axis contains motion range, origin offset
    /// </summary>
    public class LinearAxisConfig
    {
        /// <summary>最小位置（mm）| Minimum position (mm)</summary>
        public double Min { get; set; }

        /// <summary>最大位置（mm）| Maximum position (mm)</summary>
        public double Max { get; set; }

        /// <summary>原点偏移（mm）| Origin offset (mm)</summary>
        public double Origin { get; set; }
    }

    /// <summary>
    /// 旋转轴配置 | Rotary Axis Configuration
    /// 每个旋转轴包含角度范围、原点偏移、启用标志 | Each rotary axis contains angle range, origin offset, enabled flag
    /// </summary>
    public class RotaryAxisConfig
    {
        /// <summary>最小角度（度）| Minimum angle (degrees)</summary>
        public double Min { get; set; }

        /// <summary>最大角度（度）| Maximum angle (degrees)</summary>
        public double Max { get; set; }

        /// <summary>原点偏移（度）| Origin offset (degrees)</summary>
        public double Origin { get; set; }

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

    /// <summary>
    /// 几何原点配置 | Geometry Origin Configuration
    /// 包含射线源、探测器和旋转中心的原点参数 | Contains origin parameters for source, detector and rotation center
    /// </summary>
    public class GeometryConfig
    {
        /// <summary>射线源Z轴原点偏移（mm）| Source Z origin offset (mm)</summary>
        public double SourceZOrigin { get; set; }

        /// <summary>探测器Z轴原点偏移（mm）| Detector Z origin offset (mm)</summary>
        public double DetectorZOrigin { get; set; }

        /// <summary>旋转中心绝对Z坐标（mm，固定值）| Stage rotation center absolute Z (mm, fixed)</summary>
        public double StageRotationCenterZ { get; set; }

        /// <summary>
        /// 探测器摆动旋转中心（Pivot）相对于 DetectorZ 绝对坐标的 Z 方向偏移（mm）
        /// Detector swing pivot Z offset relative to DetectorZ absolute coordinate (mm)
        /// 正值表示 Pivot 在 DetectorZ_abs 下方（朝向射线源方向）| Positive means Pivot is below DetectorZ_abs (toward source)
        /// </summary>
        public double SwingPivotOffset { get; set; }

        /// <summary>
        /// 探测器摆动半径（mm）：Pivot 到探测器感光面中心的距离
        /// Detector swing radius (mm): distance from Pivot to detector active area center
        /// 当值为 0 时退化为无摆动模型 | When 0, degrades to non-swing model
        /// </summary>
        public double SwingRadius { get; set; }
    }
}