using Prism.Mvvm;
using System;

namespace SKMC.Api.Motion.Model
{
    /// <summary>
    /// 电机状态模型
    /// </summary>
    public class MotionAxisStatus : BindableBase
    {
        private byte _isEnable;

        /// <summary>
        /// 轴是否打开使能
        /// </summary>
        public byte IsEnable
        {
            get { return _isEnable; }
            set { _isEnable = value; RaisePropertyChanged(); }
        }

        private byte _isBusy;

        /// <summary>
        /// 轴是否忙(运动)
        /// </summary>
        public byte IsBusy
        {
            get { return _isBusy; }
            set { _isBusy = value; RaisePropertyChanged(); }
        }

        private byte _isOutBound;

        /// <summary>
        /// 轴是否越限
        /// </summary>
        public byte IsOutBound
        {
            get { return _isOutBound; }
            set { _isOutBound = value; RaisePropertyChanged(); }
        }

        private byte _isDone;

        /// <summary>
        /// 轴是否到位
        /// </summary>
        public byte IsDone
        {
            get { return _isDone; }
            set { _isDone = value; RaisePropertyChanged(); }
        }

        private byte _isAlarm;

        /// <summary>
        /// 轴是否报警
        /// </summary>
        public byte IsAlarm
        {
            get { return _isAlarm; }
            set { _isAlarm = value; RaisePropertyChanged(); }
        }

        private byte _isHomed;

        /// <summary>
        /// 轴是否已回零
        /// </summary>
        public byte IsHomed
        {
            get { return _isHomed; }
            set { _isHomed = value; RaisePropertyChanged(); }
        }

        private byte _isBreak;

        /// <summary>
        /// 轴是否已刹车
        /// </summary>
        public byte IsBreak
        {
            get { return _isBreak; }
            set { _isBreak = value; RaisePropertyChanged(); }
        }

        private byte _isORG;

        /// <summary>
        /// 是否触发原点
        /// </summary>
        public byte IsORG
        {
            get { return _isORG; }
            set { _isORG = value; RaisePropertyChanged(); }
        }

        private byte _isPEL;

        /// <summary>
        /// 是否触发正限位
        /// </summary>
        public byte IsPEL
        {
            get { return _isPEL; }
            set { _isPEL = value; RaisePropertyChanged(); }
        }

        private byte _isNEL;

        /// <summary>
        /// 是否触发负限位
        /// </summary>
        public byte IsNEL
        {
            get { return _isNEL; }
            set { _isNEL = value; RaisePropertyChanged(); }
        }

        private double _prf;

        /// <summary>
        /// 运行目标值
        /// </summary>
        public double PRF
        {
            get { return _prf; }
            set { _prf = value; RaisePropertyChanged(); }
        }

        private double _enc;

        /// <summary>
        /// 当前反馈值
        /// </summary>
        public double ENC
        {
            get { return _enc; }
            set { _enc = value; RaisePropertyChanged(); }
        }

        #region watch data
        public long StartTicks { get; set; }

        public long WatchTicks { get => DateTime.Now.Ticks - StartTicks; }

        public double StartPos { get; set; }

        public double WatchPos { get => _enc - StartPos; }
        #endregion
    }
}