/**
 * @file Axis.h
 * @author your name (you@domain.com)
 * @brief 
 * @version 0.1
 * @date 2026-07-02
 * 
 * @copyright Copyright (c) 2026
 * 
 */

#pragma once

#include "Types.h"

namespace plcopen {
    /**
    * \enum MotionCommandType
    * \brief 内部运动指令类型（功能块 → 轴模型映射）
    */
    enum class MotionCommandType {
        None,         /*!< 无活动指令 */
        PointToPoint, /*!< MC_MoveAbsolute / MC_MoveRelative */
        Velocity,     /*!< MC_MoveVelocity */
        Stop,         /*!< MC_Stop */
        Halt,         /*!< MC_Halt */
        Home,         /*!< MC_Home */
    };

    
/**
 * \struct MotionCommand
 * \brief 当前活动运动指令的参数快照
 */
struct MotionCommand {
    MotionCommandType type = MotionCommandType::None;
    REAL targetPosition = 0.0;
    REAL targetVelocity = 0.0;
    REAL maxVelocity = 0.0;
    REAL acceleration = 0.0;
    REAL deceleration = 0.0;
    REAL homePosition = 0.0;
    MC_AXIS_STATE resultingState = MC_AXIS_STATE::DiscreteMotion;
};

/**
 * \class Axis
 * \brief 单轴仿真对象，实现 PLCopen 轴状态机与运动学
 * \note 不要在功能块 cycle() 之外直接修改 Axis 内部状态。
 */

class Axis {
public:
    /**
     * \brief 构造轴
     * \param axisNo 轴编号
     * \param name   轴名称
     */
    explicit Axis(UINT axisNo = 1, std::string name = "Axis1");

    void cycle();
    MC_AXIS_STATE readState();

    void doPower(bool en);

    /** \brief 获取轴编号 */
    UINT axisNo() const { return _ref.axisNo; }

    /** \brief 获取内部 AXIS_REF（供全局注册表使用） */
    AXIS_REF& ref() { return _ref; }

private:
    AXIS_REF _ref;
    MC_AXIS_STATE _state = MC_AXIS_STATE::Disabled;
    MC_AXIS_STATE _resultingSstate = MC_AXIS_STATE::Disabled;
    
    MotionCommand _activeCommand;

    // 运动学属性
    REAL _position;
    REAL _actualPosition;
    REAL _velocity;
    REAL _actualVelocity;
    REAL _acceleration;
    REAL _actualAcceleration;

    // 功率与使能
    BOOL _powerEnabled;
    BOOL _homed;

    // 错误管理
    MC_ERROR_ID _errorId;
    BOOL _errorStop;
};

}