using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Xml.Serialization;

namespace Rs.Motion.Base.Config
{
    public class AxisConfig
    {
        [XmlIgnore]
        public IAxis Axis { get; set; }
        /// <summary>
        /// 卡号
        /// </summary>
        [CommonPropertyDescription("卡号")]
        [XmlElement]
        public ushort CardId { get; set; } = 0;
        [CommonPropertyDescription("ZTM MC")]
        [XmlElement]
        public short CardMc { get; set; } = 0;
        /// <summary>
        /// 轴号
        /// </summary>
        [CommonPropertyDescription("轴号")]
        [XmlElement]
        public ushort AxisId { get; set; } = 0;

        [XmlElement]
        [CommonPropertyDescription("别名")]
        public string AxisName { get; set; } = "AxisName";

        [XmlElement]
        [CommonPropertyDescription("卡类型 \r\n 脉冲卡 0 \r\n 总线卡 1 ")]
        [CopyAttribute]
        public ushort CardType { get; set; } = 0;


        [XmlElement]
        [CommonPropertyDescription("回零方向 \r\n0:负方向回零 \r\n1:正方向回零")]
        [CopyAttribute]
        public short HomeDir { get; set; } = 0;

        [XmlElement]
        [LeisaiPropertyDescription("回零模式 \r\n0：一次回零\r\n1：一次回零加回找\r\n2：二次回零\r\n3：原点加同向 EZ\r\n4：单独记一个 EZ\r\n5：原点加反向 EZ\r\n6：原点锁存\r\n7：原点锁存加同向 EZ\r\n8：单独记一个 EZ 锁存\r\n9：原点锁存加反向 EZ")]
        [ZTMPropertyDescription("回零模式 \r\n 0-无效 \r\n1-HOME，零点开关一次回零 \r\n 2-LMT，限位开关一次回零\r\n 3-Z，编码器Z相信号一次回零\r\n 4-HOME+Z，原点与编码器Z相信号联合回零\r\n5-LMT+Z，限位开关与编码器Z相信号联合回零\r\n 6-LMT+HOME，限位开关与零点开关联合回零\r\n7-LMT+HOME+Z，限位开关、零点开关与编码器Z相信号联合回零\r\n 8-原地，仅仅将轴的位置清零")]
        [CopyAttribute]
        public ushort HomeMode { get; set; } = 3;


        [XmlElement]
        [CommonPropertyDescription("原点信号有效电平  \r\n0:低有效，\r\n1:高有效")]
        [CopyAttribute]
        public ushort HomeOrgLogic { get; set; } = 0;

        [XmlElement]
        [CommonPropertyDescription("设置捕获沿：0-下降沿，1-上升沿")]
        [CopyAttribute]
        public ushort CaptureEdge { get; set; } = 0;

        [XmlElement]
        [LeisaiPropertyDescription("回零速度模式:  \r\n0:低速回零  \r\n1:高速回零")]
        [ZTMPropertyDescription("不用此属性")]
        [CopyAttribute]
        public ushort HomeVelMode { get; set; } = 0;

        [XmlElement]
        [CommonPropertyDescription("回零速度: 单位 mm/s")]
        [CopyAttribute]
        public int HomeSpeed { get; set; } = 2;

        [XmlElement]
        [CommonPropertyDescription("回原点偏后偏移 mm")]
        [CopyAttribute]
        public double HomeOffset { get; set; } = 0.0;


        [XmlElement]
        [CommonPropertyDescription("是否启用编码器 \r\n 0禁用 \r\n 1启用")]
        [CopyAttribute]
        public ushort EnableEncoder { get; set; } = 0;

        [XmlElement]
        [DisplayName("脉冲模式")]
        [Description("脉冲模式")]
        [CopyAttribute]
        public ushort PulseMode { get; set; } = 1;

        [XmlElement]
        [CommonPropertyDescription("脉冲输出模式")]
        [CopyAttribute]
        public ushort PulseOutMode { get; set; } = 5;

        [XmlElement]
        [CommonPropertyDescription("脉冲输出方向")]
        [CopyAttribute]
        public short PulseOutDir { get; set; } = 0;

        [XmlElement]
        [CommonPropertyDescription("脉冲输出索引方向")]
        [CopyAttribute]
        public short PulseOutIndexDir { get; set; } = 0;

        [XmlElement]
        [CommonPropertyDescription("编码器输入口的计数方式 \r\n0：非 A/B 相(脉冲/方向) \r\n1：1×A/B \r\n2：2×A/B \r\n3：4×A/B")]
        [CopyAttribute]
        public ushort CounterInMode { get; set; } = 0;

        [XmlElement]
        [CommonPropertyDescription("启用EMG急停信号  \r\n0:禁用 \r\n1:启用")]
        [CopyAttribute]
        public ushort EnableEmg { get; set; }

        [XmlElement]
        [CommonPropertyDescription("EMG信号有效电平，\r\n0：低有效，\r\n1：高有效")]
        [CopyAttribute]
        public ushort EmgLogic { get; set; }

        [XmlElement]
        [CommonPropertyDescription("最大速度 单位:mm/s")]
        [CopyAttribute]
        public double MaxSpeed { get; set; }


        [XmlElement]
        [CommonPropertyDescription("最小速度 单位:mm/s")]
        [CopyAttribute]
        public double MinSpeed { get; set; }

        [XmlElement]
        [CommonPropertyDescription("停止速度 单位:mm/s")]
        [CopyAttribute]
        public double StopSpeed { get; set; }

        [XmlElement]
        [CommonPropertyDescription("S型曲线时间 单位：秒")]
        [CopyAttribute]
        public double STime { get; set; } = 0.02;

        [XmlElement]
        [CommonPropertyDescription("电机转一圈的脉冲数 pulse/r")]
        [CopyAttribute]
        public int PulseOneRound { get; set; } = 10000;

        [XmlElement]
        [CommonPropertyDescription("电机转一圈运动距离 mm/r")]
        [CopyAttribute]
        public double DistOneRound { get; set; } = 5;

        [XmlElement]
        [CommonPropertyDescription("正向软极限位置 mm")]
        [CopyAttribute]
        public double PelSoftwarePosition { get; set; } = 50.0;

        [XmlElement]
        [CopyAttribute]
        [CommonPropertyDescription("负向软极限位置 mm")]
        public double NelSoftwarePosition { get; set; } = -50.0;

        [XmlElement]
        [CommonPropertyDescription("是否启用软限位 0:禁止 1-允许")]
        [CopyAttribute]
        public ushort EnableSoftwareEL { get; set; } = 0;

        [XmlElement]
        [CommonPropertyDescription("软极限源  0:指令位置  1:编码器位置")]
        [CopyAttribute]
        public ushort SoftSource { get; set; } = 1;

        [XmlElement]
        [CommonPropertyDescription("限位信号的有效电平 0:正负限位低电平有效 1:正负限位高电平有效")]
        [CopyAttribute]
        public ushort ElLogic { get; set; } = 0;

        [XmlElement]
        [CommonPropertyDescription("限位开关是否启用 根据卡的相关说明配置")]
        [CopyAttribute]
        public short EnableEL { get; set; }
        [XmlElement]
        [CommonPropertyDescription("软极限制动模式 0:减速停止 1:立即停止")]
        [CopyAttribute]
        public ushort EL_stop_mode { get; set; } = 0;

        [XmlElement]
        [CommonPropertyDescription("Z信号电平  0:低电平有效 1:高电平有效")]
        [CopyAttribute]
        public ushort EzLogic { get; set; } = 0;

        [XmlElement]
        [CommonPropertyDescription("加速度时间S")]
        [CopyAttribute]
        public double AccTime { get; set; } = 0.0;

        [XmlElement]
        [CommonPropertyDescription("减速度时间S")]
        [CopyAttribute]
        public double DecTime { get; set; } = 0.0;

        [XmlElement]
        [CommonPropertyDescription("到位信号电平  0:低电平有效 1:高电平有效")]
        [CopyAttribute]
        public ushort InpLogic { get; set; } = 0;

        [XmlElement]
        [CommonPropertyDescription("到位信号启用")]
        [CopyAttribute]
        public ushort EnableInp { get; set; } = 0;

        [XmlElement]
        [CommonPropertyDescription("报警信号电平  0:低电平有效 1:高电平有效")]
        [CopyAttribute]
        public ushort AlarmLogic { get; set; } = 0;

        [XmlElement]
        [CommonPropertyDescription("报警信号启用  0:禁用 1:启用")]
        [CopyAttribute]
        public ushort EnableAlarm { get; set; } = 0;

        [XmlElement]
        [CommonPropertyDescription("允许的误差 单位:mm")]
        [CopyAttribute]
        public double Tolerance { get; set; } = 0.1;

        [XmlElement]
        [CommonPropertyDescription("高速位置对比的电平脉冲宽度 单位:us")]
        [CopyAttribute]
        public int HcmpPulseWidth { get; set; } = 50;

        [XmlElement]
        [CommonPropertyDescription("高速位置比较有效电平：\r\n0：低电平，\r\n1：高电平")]
        [CopyAttribute]
        public ushort HcmpOutLogic { get; set; } = 0;

        [XmlElement]
        [ZTMPropertyDescription("电流值 ma")]
        [CopyAttribute]
        public short Current { get; set; } = 500;

        [XmlElement]
        public ushort AbsoluteEncoder { get; set; } = 0;


        [XmlElement]
        public ushort AssistEncoder { get; set; } = 0;
        /// <summary>
        /// 是否允许JOG运动
        /// </summary>
        public bool CanJogMove { get; set; } = false;
        /// <summary>
        /// 是否需要回原
        /// </summary>
        public int NeedGoHome { get; set; } = 1;
    }

    public class CopyAttribute:Attribute
    {

    }
}