/**
 * @file Axis.cpp
 * @author 
 * @brief 
 * @version 0.1
 * @date 2026-07-02
 * 
 * @copyright Copyright (c) 2026
 * 
 */
#include <string>
#include "Types.h"
#include "Axis.h"

namespace plcopen {
Axis::Axis(UINT axisNo, std::string name) {
    _ref.axisNo = axisNo;
    _ref.axisName = std::move(name);
    _ref.axis = this;
}

void Axis::cycle()
{
    if (_errorStop) return;

    if (!_powerEnabled) return;

    switch (_state) {
        case MC_AXIS_STATE::Disabled :
        {
            break;
        }

        case MC_AXIS_STATE::Standstill :
        {
            break;
        }

        case MC_AXIS_STATE::Stopping :
        {
            break;
        }

        // 独立运动
        case MC_AXIS_STATE::DiscreteMotion :
        {
            break;
        }

        // 持续运动
        case MC_AXIS_STATE::ContinuousMotion :
        {
            break;
        }

        // 同步运动
        case MC_AXIS_STATE::SynchronizedMotion :
        {
            break;
        }

        // 回零
        case MC_AXIS_STATE::Homing :
        {
            break;
        }

        default:
        {
            break;
        }
    }
}

void Axis::doPower(bool en)
{
    if(en)
    {
        _powerEnabled = true;
    }
    else {
        _powerEnabled = false;
        _activeCommand.type = MotionCommandType::None;
        _velocity = 0.0;
        _acceleration = 0.0;
        _errorStop = false;
        _state = MC_AXIS_STATE::Disabled;
    }
}

MC_AXIS_STATE Axis::readState()
{
    return _state;
}

}