/**
 * @file MC_Power.cpp
 * @author 
 * @brief 
 * @version 0.1
 * @date 2026-07-03
 * 
 * @copyright Copyright (c) 2026
 * 
 */

#include "MC_Power.h"
#include "Types.h"

namespace plcopen {

    MC_Power::MC_Power(AXIS_REF& axisRef)
        : _axisRef(axisRef) { }

    void MC_Power::cycle()
    {
        if(_axisRef.axis == nullptr)
        {
            Error = true;
            ErrorID = MC_ERROR_ID::mcInvalidParameter;
            Status = false;
            Busy = false;
            return;
        }

        Axis* axis = _axisRef.axis;
        Error = false;
        ErrorID = MC_ERROR_ID::mcNoError;

        // 上升沿
        if(Enable && !_prevEnable)
        {
            axis->doPower(true);
        }

        // 下降沿
        if(!Enable && _prevEnable)
        {
            axis->doPower(false);
        }

        // 在使能状态下持续更新轴状态
        if(Enable)
        {
            auto state = axis->readState();
            if(state == MC_AXIS_STATE::Standstill)
            {
                Busy = false;
                Status = true;
            }
            else if(state == MC_AXIS_STATE::ErrorStop)
            {
                Busy = false;
                Status = false;
                Error = true;
                ErrorID = MC_ERROR_ID::mcPowerFailure;
            }
            else
            {
                Status = false;
                Busy = false;
            }

        }

        // 保存前置状态
        _prevEnable = Enable;

    }


}