using SKMC.Api.Motion.Model;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace SKMC.Api.Motion.Driver
{
    /// <summary>
    /// 运动控制高级功能接口
    /// </summary>
    public interface IMotionDriverAdvance
    {
        /// <summary>
        /// 创建多轴插补坐标
        /// </summary>
        /// <param name="InterpNo">插补系编号</param>
        /// <param name="axisNos">关联的电机轴集合</param>
        /// <returns>执行结果, 0执行成功, 其他为错误码</returns>
        int CreateMultiInterpSys(short InterpNo, short[] axisNos);

        /// <summary>
        /// 删除多轴插补坐标
        /// </summary>
        /// <param name="InterpNo">插补系编号</param>
        /// <returns>执行结果, 0执行成功, 其他为错误码</returns>
        int RemoveMultiInterpSys(short InterpNo);

        /// <summary>
        /// 添加多轴插补数据(两轴)
        /// </summary>
        /// <param name="InterpNo">插补系编号</param>
        /// <param name="axis1Data">轴1的绝对位置集合，需要关联CreateMultiInterpSys的axisNos[0]</param>
        /// <param name="axis2Data">轴2的绝对位置集合，需要关联CreateMultiInterpSys的axisNos[1]</param>
        /// <param name="speed">基础速度</param>
        /// <param name="acc">基础加速度</param>
        /// <param name="blendType">过渡类型</param>
        /// <param name="blendRatio">过渡曲率</param>
        /// <returns></returns>
        int AddMultiInterpData(short InterpNo, List<double> axis1Data, List<double> axis2Data, 
            double speed, double acc, short blendType = 1, double blendRatio = 0.1);

        /// <summary>
        /// 清除多轴插补数据
        /// </summary>
        /// <param name="InterpNo">插补系编号</param>
        /// <returns></returns>
        int ClearMultiInterpData(short InterpNo);

        /// <summary>
        /// 清除多轴插补错误/报警
        /// </summary>
        /// <param name="InterpNo">插补系编号</param>
        /// <returns></returns>
        int ClearMultiInterpError(short InterpNo);

        /// <summary>
        /// 开始多轴插补移动
        /// </summary>
        /// <param name="InterpNo">插补系编号</param>
        /// <returns></returns>
        int StartMultiInterpMove(short InterpNo);

        /// <summary>
        /// 等待多轴插补移动到位
        /// </summary>
        /// <param name="InterpNo">插补系编号</param>
        /// <param name="timeout">超时时间(毫秒)</param>
        /// <param name="errAction">运行异常或超时后的处理</param>
        /// <returns></returns>
        int WaitMultiInterpArrival(short InterpNo, int timeout, Action errAction);

        /// <summary>
        /// 停止多轴插补移动(到位后需要调用)
        /// </summary>
        /// <param name="InterpNo">插补系编号</param>
        /// <returns></returns>
        int StopMultiInterpMove(short InterpNo);

    }
}