using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;

namespace Rs.Motion.Base
{
    public class BaseAxisControl
    {
        List<IAxis> axes= new List<IAxis>();

        private bool bLoadAxis = false;
        private void LoadAxis()
        {
            if(!bLoadAxis)
            {
                PropertyInfo[] pis = this.GetType().GetProperties(System.Reflection.BindingFlags.Instance | BindingFlags.Public);
                foreach (var item in pis)
                {
                    IAxis axis = (IAxis)item.GetValue(this, null);
                    axes.Add(axis);
                }
                bLoadAxis = true;
            }
        }

        public void AllEnable()
        {
            LoadAxis();
            foreach (IAxis axis in axes)
            {
                axis.Enable();
            }
        }

        public void AllDisEnable()
        {
            LoadAxis();
            foreach (IAxis axis in axes)
            {
                axis.Enable();
            }
        }

        public void AllStop()
        {
            LoadAxis();
            foreach (IAxis axis in axes)
            {
                axis.Stop();
            }
        }

        public void Restore()
        {
            LoadAxis();
            foreach (IAxis axis in axes)
            {
                axis.Restore();
            }
        }
    }
}