SKMC.API-v3/SKMC.API/Motion/Control/IMotionControl.cs

using SKMC.Api.Motion.Model;
using SKMC.Api.Recipe.Model;
using System;
using System.Collections.Generic;

namespace SKMC.Api.Motion.Control
{
    /// <summary>
    /// 基于流程化的运动控制层接口
    /// 结合点位、速度配置, 方便控制脚本调用
    /// </summary>
    public interface IMotionControl
    {
        /// <summary>
        /// 设置参数
        /// </summary>
        /// <param name="key">interval/timeout_move/timeout_home</param>
        /// <param name="value"></param>
        void Set(string key, int value);

        /// <summary>
        /// 获取参数
        /// </summary>
        /// <param name="key">interval/timeout_move/timeout_home</param>
        /// <returns></returns>
        int Get(string key);

        /// <summary>
        /// 控制使能, true: motion控制有效,  false: motion控制无效
        /// 运动过程中如有电机抛出MotionException, 该控制使能自动失效
        /// </summary>
        void Enable(bool enabled = true);

        /// <summary>
        /// 控制使能是否有效
        /// </summary>
        /// <returns></returns>
        bool IsEnable();

        /// <summary>
        /// 开启所有电机使能
        /// </summary>
        void EnableAllAxises();

        /// <summary>
        /// 关闭所有电机使能
        /// </summary>
        void DisableAllAxises();

        /// <summary>
        /// 判断控制卡是否连接状态
        /// </summary>
        /// <returns></returns>
        bool IsCardConnected();

        /// <summary>
        /// 电机上使能
        /// </summary>
        /// <param name="axisCode">电机码</param>
        /// <param name="clearError">清除驱动报警</param>
        void EnableAxis(string axisCode, bool clearError = true);

        /// <summary>
        /// 电机下使能
        /// </summary>
        /// <param name="axisCode">电机码</param>
        void DisableAxis(string axisCode);

        /// <summary>
        /// 多个电机上使能
        /// </summary>
        /// <param name="axisCodes">电机码集合</param>
        /// <param name="clearError">清除驱动报警</param>
        void EnableAxises(List<string> axisCodes, bool clearError = true);

        /// <summary>
        /// 多个电机下使能
        /// </summary>
        /// <param name="axisCodes">电机码集合</param>
        void DisableAxises(List<string> axisCodes);

        /// <summary>
        /// 获取电机对象
        /// </summary>
        /// <param name="axisCode">电机码</param>
        /// <returns>电机对象</returns>
        MotionAxis GetAxis(string axisCode);

        /// <summary>
        /// 指定轴回零
        /// </summary>
        /// <param name="axisCode">电机码</param>
        /// <param name="waiting">是否等待(!注意：目前此参数设置为false无效)</param>
        /// <param name="safeCnd">安全条件, 回零中如果不满足该安全条件立即停止并报警</param>
        /// <param name="onSuccess"></param>
        /// <param name="onTimeout"></param>
        /// <param name="timeout">超时时间(毫秒)</param>
        void Home(string axisCode, bool waiting = true, Func<bool> safeCnd = null, Action onSuccess = null, Action onTimeout = null, int timeout = 60000);

        /// <summary>
        /// 指定轴快速回零, 该轴必须是闭环电机, 如果是开环电机则降级为普通的HomeAxis回零
        /// 并且传入的stateCheck为true后(表示总线连接OK并且上一次回零到现在未中断)，使用speedCode速度移动到0位置再进行回零。
        /// 如果传入的stateCheck为false则降级为普通的HomeAxis回零
        /// </summary>
        /// <param name="axisCode">电机码</param>
        /// <param name="speedCode">快速移动到0位置的速度码, !注意:为确保安全设置合适的速度</param>
        /// <param name="stateCheck">状态判断, 这里指Ecat总线连接状态以及上一次回零后Ecat总线是否正常</param>
        /// <param name="waiting">是否等待(!注意：目前此参数设置为false无效)</param>
        /// <param name="safeCnd">安全条件, 回零中如果不满足该安全条件立即停止并报警</param>
        /// <param name="onSuccess"></param>
        /// <param name="onTimeout"></param>
        /// <param name="timeout">超时时间(毫秒)</param>
        void HomeFast(string axisCode, string speedCode, bool stateCheck, bool waiting = true,
            Func<bool> safeCnd = null, Action onSuccess = null, Action onTimeout = null, int timeout = 60000);

        /// <summary>
        /// 指定轴反向回零.
        /// 在无法进行负方向回零时, 可通过该方法往正方向回零, 回零完毕后设置当前位置为正限位最大值, 即可实现与负方向回零相同效果
        /// </summary>
        /// <param name="axisCode">电机码</param>
        /// <param name="homeMode">回零模式, 例如正限位+Z相回零的模式是2</param>
        /// <param name="maxPos">限位位置相对原点的位置, 单位mm, 推荐在限位位置设置点位并从点位获取</param>
        /// <param name="waiting">是否等待</param>
        /// <param name="safeCnd">安全条件, 回零中如果不满足该安全条件立即停止并报警</param>
        /// <param name="onSuccess"></param>
        /// <param name="onTimeout"></param>
        /// <param name="timeout">超时时间(毫秒)</param>
        void HomeReverse(string axisCode, short homeMode, double maxPos, bool waiting = true,
            Func<bool> safeCnd = null, Action onSuccess = null, Action onTimeout = null, int timeout = 60000);

        /// <summary>
        /// 判断绑定某个点位的电机(一个或多个)是否在该点位附近。需同时满足negativeOffset与PositiveOffset的位置限定后返回true.
        /// <para>具体判断如下:</para>
        /// <para>1.电机未上使能, 返回false</para>
        /// <para>2.电机Enc数值 小于 点位设置值 - negativeOffset 或者 电机Enc数值 大于 点位设置值 + positiveOffset, 返回false</para>
        /// <para>3.剩下返回true</para>
        /// </summary>
        /// <param name="pointCode">点位码</param>
        /// <param name="index">绑定点位的电机序号, 0开头, 默认-1表示该点位的所有电机</param>
        /// <param name="negativeOffset">大于该点位的负方向距离</param>
        /// <param name="positiveOffset">小于该点位的正方向距离</param>
        /// <returns>是否满足位置条件</returns>
        bool CheckNear(string pointCode, short index = -1, double negativeOffset = 0.1, double positiveOffset = 0.1);

        /// <summary>
        /// 通过点位码驱动对应的Axis运动, speedRadio表示每秒旋转圈数
        /// </summary>
        /// <param name="pointCode">点位码</param>
        /// <param name="speedRound">电机每秒旋转圈数</param>
        /// <param name="waiting">是否等待到位, 默认为true</param>
        /// <param name="inRange">整定范围, 单位毫米或者步距</param>
        /// <param name="onSuccess">运动完成后的回调动作</param>
        /// <param name="onTimeout">超时未完成的回调动作</param>
        void MoveRound(string pointCode, double speedRound, bool waiting = true, double inRange = -1,
            Action onSuccess = null, Action onTimeout = null);

        /// <summary>
        /// 让绑定点位码的(多个)电机以指定速度运动到点位码
        /// </summary>
        /// <param name="pointCode">点位码</param>
        /// <param name="speedCode">速度码, null表示使用该点配置的默认速度码</param>
        /// <param name="waiting">是否等待到位, 默认为true</param>
        /// <param name="inRange">整定范围, 单位毫米或者步距</param>
        /// <param name="onSuccess">运动完成后的回调动作</param>
        /// <param name="onTimeout">超时未完成的回调动作</param>
        void MovePoint(string pointCode, string speedCode = null, bool waiting = true, double inRange = -1,
            Action onSuccess = null, Action onTimeout = null);

        /// <summary>
        /// 让绑定点位码的(多个)电机以指定速度运动到点位码
        /// </summary>
        /// <param name="recipePoint">点位对象</param>
        /// <param name="recipeSpeed">速度对象, null表示使用该点配置的默认速度</param>
        /// <param name="waiting">是否等待到位, 默认为true</param>
        /// <param name="inRange">整定范围, 单位毫米或者步距</param>
        /// <param name="onSuccess">运动完成后的回调动作</param>
        /// <param name="onTimeout">超时未完成的回调动作</param>
        void MovePoint(RecipePoint recipePoint, RecipeSpeed recipeSpeed = null, bool waiting = true, double inRange = -1,
            Action onSuccess = null, Action onTimeout = null);

        /// <summary>
        /// 让绑定点位码的(多个)电机以指定速度运动到点位码
        /// </summary>
        /// <param name="recipePoint">点位对象</param>
        /// <param name="speedCode">速度码, null表示使用该点配置的默认速度码</param>
        /// <param name="waiting">是否等待到位, 默认为true</param>
        /// <param name="inRange">整定范围, 单位毫米或者步距</param>
        /// <param name="onSuccess">运动完成后的回调动作</param>
        /// <param name="onTimeout">超时未完成的回调动作</param>
        void MovePoint(RecipePoint recipePoint, string speedCode = null, bool waiting = true, double inRange = -1,
            Action onSuccess = null, Action onTimeout = null);

        /// <summary>
        /// 让绑定点位码的(多个)电机以指定速度运动到点位码并能叠加指定偏移量
        /// </summary>
        /// <param name="pointCode">点位码</param>
        /// <param name="posOffsets">各个电机的偏移量数组, 需要按电机绑定顺序赋值</param>
        /// <param name="speedCode">速度码, null表示使用该点配置的默认速度码</param>
        /// <param name="waiting">是否等待到位, 默认为true</param>
        /// <param name="inRange">整定范围, 单位毫米或者步距</param>
        /// <param name="onSuccess">运动完成后的回调动作</param>
        /// <param name="onTimeout">超时未完成的回调动作</param>
        void MovePointFix(string pointCode, double[] posOffsets, string speedCode = null, bool waiting = true, double inRange = -1,
            Action onSuccess = null, Action onTimeout = null);

        /// <summary>
        /// 让绑定点位码的(多个)电机以指定速度运动到点位码，并能叠加指定偏移量
        /// </summary>
        /// <param name="recipePoint">点位对象</param>
        /// <param name="posOffsets">各个电机的偏移量数组, 需要按电机绑定顺序赋值</param>
        /// <param name="speedCode">速度码, null表示使用该点配置的默认速度码</param>
        /// <param name="waiting">是否等待到位, 默认为true</param>
        /// <param name="inRange">整定范围, 单位毫米或者步距</param>
        /// <param name="onSuccess">运动完成后的回调动作</param>
        /// <param name="onTimeout">超时未完成的回调动作</param>
        void MovePointFix(RecipePoint recipePoint, double[] posOffsets, string speedCode = null, bool waiting = true, double inRange = -1,
            Action onSuccess = null, Action onTimeout = null);

        /// <summary>
        /// 让绑定点位码的(多个)电机以指定速度运动到点位码，并能叠加指定偏移量
        /// </summary>
        /// <param name="recipePoint">点位对象</param>
        /// <param name="posOffsets">各个电机的偏移量数组, 需要按电机绑定顺序赋值</param>
        /// <param name="recipeSpeed">速度对象, null表示使用该点配置的默认速度</param>
        /// <param name="waiting">是否等待到位, 默认为true</param>
        /// <param name="inRange">整定范围, 单位毫米或者步距</param>
        /// <param name="onSuccess">运动完成后的回调动作</param>
        /// <param name="onTimeout">超时未完成的回调动作</param>
        void MovePointFix(RecipePoint recipePoint, double[] posOffsets, RecipeSpeed recipeSpeed = null, bool waiting = true, double inRange = -1,
            Action onSuccess = null, Action onTimeout = null);

        /// <summary>
        /// 让绑定点位码的指定单个电机以指定速度运动到点位码
        /// </summary>
        /// <param name="pointCode">点位码</param>
        /// <param name="axisCode">指定电机的电机码</param>
        /// <param name="speedCode">速度码, null表示使用该点配置的默认速度码</param>
        /// <param name="waiting">是否等待到位, 默认为true</param>
        /// <param name="inRange">整定范围, 单位毫米或者步距</param>
        /// <param name="onSuccess">运动完成后的回调动作</param>
        /// <param name="onTimeout">超时未完成的回调动作</param>
        void MovePointOne(string pointCode, string axisCode, string speedCode = null,
            bool waiting = true, double inRange = -1,
            Action onSuccess = null, Action onTimeout = null);

        /// <summary>
        /// 让绑定点位码的指定单个电机以指定速度运动到点位码
        /// </summary>
        /// <param name="recipePoint">点位对象</param>
        /// <param name="axisCode">指定电机的电机码</param>
        /// <param name="speedCode">速度码, null表示使用该点配置的默认速度码</param>
        /// <param name="waiting">是否等待到位, 默认为true</param>
        /// <param name="inRange">整定范围, 单位毫米或者步距</param>
        /// <param name="onSuccess">运动完成后的回调动作</param>
        /// <param name="onTimeout">超时未完成的回调动作</param>
        void MovePointOne(RecipePoint recipePoint, string axisCode, string speedCode = null,
            bool waiting = true, double inRange = -1,
            Action onSuccess = null, Action onTimeout = null);

        /// <summary>
        /// 让绑定点位码的指定单个电机以指定速度运动到点位码
        /// </summary>
        /// <param name="recipePoint">点位对象</param>
        /// <param name="axisCode">指定电机的电机码</param>
        /// <param name="recipeSpeed">速度对象, null表示使用该点配置的默认速度</param>
        /// <param name="waiting">是否等待到位, 默认为true</param>
        /// <param name="inRange">整定范围, 单位毫米或者步距</param>
        /// <param name="onSuccess">运动完成后的回调动作</param>
        /// <param name="onTimeout">超时未完成的回调动作</param>
        void MovePointOne(RecipePoint recipePoint, string axisCode, RecipeSpeed recipeSpeed = null,
            bool waiting = true, double inRange = -1,
            Action onSuccess = null, Action onTimeout = null);

        /// <summary>
        /// 让绑定点位码的指定单个电机以指定速度运动到点位码，并能叠加指定偏移量
        /// </summary>
        /// <param name="pointCode">点位码</param>
        /// <param name="fixset">基于点位的偏移量(mm)</param>
        /// <param name="axisCode">指定电机的电机码</param>
        /// <param name="speedCode">速度码, null表示使用该点配置的默认速度码</param>
        /// <param name="waiting">是否等待到位, 默认为true</param>
        /// <param name="inRange">整定范围, 单位毫米或者步距</param>
        /// <param name="onSuccess">运动完成后的回调动作</param>
        /// <param name="onTimeout">超时未完成的回调动作</param>
        void MovePointOneFix(string pointCode, double fixset, string axisCode, string speedCode = null,
            bool waiting = true, double inRange = -1,
            Action onSuccess = null, Action onTimeout = null);

        /// <summary>
        /// 让绑定点位码的指定单个电机以指定速度运动到点位码，并能叠加指定偏移量
        /// </summary>
        /// <param name="recipePoint">点位对象</param>
        /// <param name="fixset">基于点位的偏移量(mm)</param>
        /// <param name="axisCode">指定电机的电机码</param>
        /// <param name="recipeSpeed">速度对象, null表示使用该点配置的默认速度</param>
        /// <param name="waiting">是否等待到位, 默认为true</param>
        /// <param name="inRange">整定范围, 单位毫米或者步距</param>
        /// <param name="onSuccess">运动完成后的回调动作</param>
        /// <param name="onTimeout">超时未完成的回调动作</param>
        void MovePointOneFix(RecipePoint recipePoint, double fixset, string axisCode, RecipeSpeed recipeSpeed = null,
            bool waiting = true, double inRange = -1,
            Action onSuccess = null, Action onTimeout = null);

        /// <summary>
        /// 让绑定点位码的指定单个电机以指定速度运动到点位码，并能叠加指定偏移量
        /// </summary>
        /// <param name="recipePoint">点位对象</param>
        /// <param name="fixset">基于点位的偏移量(mm)</param>
        /// <param name="axisCode">指定电机的电机码</param>
        /// <param name="speedCode">速度码, null表示使用该点配置的默认速度码</param>
        /// <param name="waiting">是否等待到位, 默认为true</param>
        /// <param name="inRange">整定范围, 单位毫米或者步距</param>
        /// <param name="onSuccess">运动完成后的回调动作</param>
        /// <param name="onTimeout">超时未完成的回调动作</param>
        void MovePointOneFix(RecipePoint recipePoint, double fixset, string axisCode, string speedCode = null,
            bool waiting = true, double inRange = -1,
            Action onSuccess = null, Action onTimeout = null);

        /// <summary>
        /// 聚合多个点位码并同时运动
        /// </summary>
        /// <param name="recipePoints">需要聚合运动的点位对象集合</param>
        /// <param name="waiting">是否等待到位, 默认为true</param>
        /// <param name="inRange">整定范围, 单位毫米或者步距</param>
        /// <param name="sync">是否同步到达，false: 使用recipeSpeed的速度，true：以recipeSpeed为基准，调整各点位速度</param>
        /// <param name="onSuccess">运动完成后的回调动作</param>
        /// <param name="onTimeout">超时未完成的回调动作</param>
        void MovePoints(List<RecipePoint> recipePoints, RecipeSpeed recipeSpeed,
            bool waiting = true, double inRange = -1, bool sync = false,
            Action onSuccess = null, Action onTimeout = null);

        /// <summary>
        /// 聚合多个点位码并同时运动
        /// </summary>
        /// <param name="pointCodes">需要聚合运动的点位码集合</param>
        /// <param name="speedCode">速度码, null表示使用各点位的默认速度码</param>
        /// <param name="waiting">是否等待到位, 默认为true</param>
        /// <param name="inRange">整定范围, 单位毫米或者步距</param>
        /// <param name="sync">是否同步到达，false: 使用各自的点位中的速度，true：以speedCode为基准，调整各点位速度</param>
        /// <param name="onSuccess">运动完成后的回调动作</param>
        /// <param name="onTimeout">超时未完成的回调动作</param>
        void MovePoints(string[] pointCodes, string speedCode = null,
            bool waiting = true, double inRange = -1, bool sync = false,
            Action onSuccess = null, Action onTimeout = null);

        /// <summary>
        /// 等待电机运动到位
        /// </summary>
        /// <param name="axisCode">电机码</param>
        /// <param name="timeout">超时时间</param>
        /// <param name="inRange">整定范围, 单位毫米或者步距</param>
        /// <param name="onSuccess">运动完成后的回调动作</param>
        /// <param name="onTimeout">超时未完成的回调动作</param>
        void WaitAxis(string axisCode, int timeout = 10000, double inRange = -1,
            Action onSuccess = null, Action onTimeout = null);

        /// <summary>
        /// 等待电机运动到位
        /// </summary>
        /// <param name="motionAxis">电机对象</param>
        /// <param name="timeout">超时时间</param>
        /// <param name="inRange">整定范围, 单位毫米或者步距</param>
        /// <param name="onSuccess">运动完成后的回调动作</param>
        /// <param name="onTimeout">超时未完成的回调动作</param>
        void WaitAxis(MotionAxis motionAxis, int timeout = 10000, double inRange = -1,
            Action onSuccess = null, Action onTimeout = null);

        /// <summary>
        /// 等待点位上所有电机到位
        /// </summary>
        /// <param name="pointCode">点位码</param>
        /// <param name="timeout">超时时间</param>
        /// <param name="inRange">整定范围, 单位毫米或者步距</param>
        /// <param name="onSuccess">运动完成后的回调动作</param>
        /// <param name="onTimeout">超时未完成的回调动作</param>
        void WaitPoint(string pointCode, int timeout = 10000, double inRange = -1,
            Action onSuccess = null, Action onTimeout = null);

        /// <summary>
        /// 等待点位上所有电机到位
        /// </summary>
        /// <param name="recipePoint">点位对象</param>
        /// <param name="timeout">超时时间</param>
        /// <param name="inRange">整定范围, 单位毫米或者步距</param>
        /// <param name="safeCnd">安全条件, 运动中如果不满足该安全条件立即停止并报警</param>
        /// <param name="onSuccess">运动完成后的回调动作</param>
        /// <param name="onTimeout">超时未完成的回调动作</param>
        void WaitPoint(RecipePoint recipePoint, int timeout = 10000, double inRange = -1,
            Action onSuccess = null, Action onTimeout = null);

        /// <summary>
        /// 等待电机组所有电机到位
        /// </summary>
        /// <param name="axisCodes">电机码集合</param>
        /// <param name="timeout">超时时间</param>
        void WaitGroup(List<string> axisCodes, int timeout = 10000);

        /// <summary>
        /// 等待并阻塞当前线程, 直到满足特定条件
        /// </summary>
        /// <param name="cndDone">完成条件 (满足后释放阻塞)</param>
        /// <param name="onTimeout">超时动作</param>
        /// <param name="timeout">超时时间(ms)</param>
        void WaitCnd(Func<bool> cndDone, Action onTimeout, int timeout);

        /// <summary>
        /// 电机按一定速度持续运动, 非阻塞
        /// </summary>
        /// <param name="axisCode">电机码</param>
        /// <param name="speedCode">速度码</param>
        /// <param name="direction">方向</param>
        void MoveKeep(string axisCode, string speedCode, ushort direction);

        /// <summary>
        /// 电机相对运动
        /// </summary>
        /// <param name="axisCode">电机码</param>
        /// <param name="speedCode">速度码</param>
        /// <param name="distance">距离</param>
        /// <param name="waiting">是否等待</param>
        void MoveRel(string axisCode, string speedCode, double distance, bool waiting = true);


        /// <summary>
        /// 电机绝对运动,确保回零后调用
        /// </summary>
        /// <param name="axisCode">电机码</param>
        /// <param name="speedCode">速度码</param>
        /// <param name="position">坐标</param>
        /// <param name="waiting">是否等待</param>
        void MoveAbs(string axisCode, string speedCode, double position, bool waiting = false);

        /// <summary>
        /// 电机绝对运动,确保回零后调用
        /// </summary>
        /// <param name="axisCode">电机码</param>
        /// <param name="recipeSpeed">速度对象</param>
        /// <param name="position">坐标</param>
        /// <param name="waiting">是否等待</param>
        void MoveAbs(string axisCode, RecipeSpeed recipeSpeed, double position, bool waiting = false);


        /// <summary>
        /// 停止单个电机
        /// </summary>
        /// <param name="axisCode">电机码</param>
        void Stop(string axisCode, bool waiting = false);

        /// <summary>
        /// 停止多个电机
        /// </summary>
        /// <param name="axisCodes">电机码集合</param>
        void Stop(List<string> axisCodes);

        /// <summary>
        /// 点位上多个电机停止运动
        /// </summary>
        /// <param name="pointCode">点位码</param>
        void StopPoint(string pointCode);

        /// <summary>
        /// 所有电机停止
        /// </summary>
        void StopAll();

        /// <summary>
        /// 暂停一个电机运动
        /// </summary>
        /// <param name="axisCode">电机码</param>
        void Pause(string axisCode);

        /// <summary>
        /// 暂停一个点位上多个电机运动
        /// </summary>
        /// <param name="pointCode">点位码</param>
        void PausePoint(string pointCode);

        /// <summary>
        /// 恢复一个电机运动
        /// </summary>
        /// <param name="axisCode">电机码</param>
        void Resume(string axisCode);

        /// <summary>
        /// 暂停一个点位上多个电机运行
        /// </summary>
        /// <param name="pointCode">点位码</param>
        void ResumePoint(string pointCode);

        /// <summary>
        /// 清除电机计数(反馈值与目标值)
        /// </summary>
        /// <param name="axisCode">电机码</param>
        void ClearCounter(string axisCode);

        /// <summary>
        /// 清除电机驱动器报警(部分驱动器可能无效)
        /// </summary>
        /// <param name="axisCode">电机码</param>
        void ClearError(string axisCode);

        /// <summary>
        /// 更新电机持续运行时的速度
        /// </summary>
        /// <param name="axisCode">电机码</param>
        /// <param name="speedCode">速度码</param>
        void UpdateKeepSpeed(string axisCode, string speedCode);

        /// <summary>
        /// 更新电机持续运行时的速度.
        /// [注意]速度单位是mm/s, 慎用
        /// </summary>
        /// <param name="axisCode">电机码</param>
        /// <param name="recipeSpeed">速度对象, 至少需要MaxVel、Acc、Dec 这3个属性</param>
        void UpdateKeepSpeed(string axisCode, RecipeSpeed recipeSpeed);

        /// <summary>
        /// 更新电机点对点移动时的速度
        /// </summary>
        /// <param name="axisCode">电机码</param>
        /// <param name="speedCode">速度码</param>
        void UpdateMoveSpeed(string axisCode, string speedCode);

        /// <summary>
        /// 更新电机点对点移动时的速度.
        /// [注意]速度单位是mm/s, 慎用
        /// </summary>
        /// <param name="axisCode">电机码</param>
        /// <param name="recipeSpeed">速度对象, 至少需要MaxVel、Acc、Dec 这3个属性</param>
        void UpdateMoveSpeed(string axisCode, RecipeSpeed recipeSpeed);

        /// <summary>
        /// 开始监测电机步距
        /// </summary>
        /// <param name="axisCode">电机码</param>
        /// <param name="ticks">时间周期, -1表示当前</param>
        void StartWatch(string axisCode, long ticks = -1);

        /// <summary>
        /// 读取电机状态并获取对象
        /// </summary>
        /// <param name="axisCode">电机码</param>
        /// <returns>电机对象</returns>
        MotionAxis ReadStatus(string axisCode);

        /// <summary>
        /// 读取电机状态
        /// </summary>
        /// <param name="motionAxis">电机对象</param>
        void ReadStatus(MotionAxis motionAxis);

        /// <summary>
        /// 电机到位判断
        /// </summary>
        /// <param name="axisCode">电机码</param>
        /// <returns>是否到位</returns>
        bool CheckDone(string axisCode);

        /// <summary>
        /// 多个电机到位判断, 如果其中一个电机未到位返回false
        /// </summary>
        /// <param name="axisCodes">电机码</param>
        /// <returns>是否到位</returns>
        bool CheckDone(List<string> axisCodes);


        /// <summary>
        /// 设置DO点开关值(会检测接口是否失效, 推荐气缸等动作IO使用)
        /// </summary>
        /// <param name="doCode">DO码</param>
        /// <param name="value">开关值</param>
        /// <param name="logged">本次动作是否记录到日志</param>
        void PushIO(string doCode, short value, bool logged = true);

        /// <summary>
        /// 设置DO点开关值
        /// </summary>
        /// <param name="doCode">DO码</param>
        /// <param name="value">开关值</param>
        /// <param name="logged">本次动作是否记录到日志</param>
        void PushIO(string doCode, int value, bool logged = true);

        /// <summary>
        /// 设置DO点开关值(不检测接口是否失效, 推荐指示灯等非动作IO使用)
        /// </summary>
        /// <param name="doCode">DO码</param>
        /// <param name="value">开关值</param>
        /// <param name="logged">本次动作是否记录到日志</param>
        void SetIO(string doCode, short value, bool logged = true);

        /// <summary>
        /// 设置DO点开关值反向
        /// </summary>
        /// <param name="doCode">DO码</param>
        void PushIORev(string doCode);

        /// <summary>
        /// 设置一对DO点开关值
        /// </summary>
        /// <param name="do1Code">DO1码</param>
        /// <param name="do1Value">DO1开关值</param>
        /// <param name="do2Code">DO2码</param>
        /// <param name="do2Value">DO2开关值</param>
        void PushIOPair(string do1Code, short do1Value, string do2Code, short do2Value);

        /// <summary>
        /// 获取DI开关值
        /// </summary>
        /// <param name="diCode">DI码</param>
        /// <param name="fromCache">是否从缓存获取</param>
        /// <returns></returns>
        short GetDiValue(string diCode, bool fromCache = true);

        /// <summary>
        /// 读取一次DI开关值并写入cache, 同时返回该数值
        /// </summary>
        /// <param name="diCode">DI码</param>
        /// <returns></returns>
        short ReadDiValue(string diCode);

        /// <summary>
        /// 获取DO开关值
        /// </summary>
        /// <param name="doCode">DO码</param>
        /// <param name="fromCache">是否从缓存获取</param>
        /// <returns></returns>
        short GetDoValue(string doCode, bool fromCache = true);

        /// <summary>
        /// 读取一次DO开关值并写入cache, 同时返回该数值
        /// </summary>
        /// <param name="diCode">DI码</param>
        /// <returns></returns>
        short ReadDoValue(string doCode);

        /// <summary>
        /// 获取模拟量数值
        /// </summary>
        /// <param name="adCode">AD码</param>
        /// <returns></returns>
        short GetAdValue(string adCode);

        /// <summary>
        /// 获取模拟量数值
        /// </summary>
        /// <param name="adIndex">AD序号</param>
        /// <returns></returns>
        short GetAdValue(short adIndex);

        /// <summary>
        /// 读取一次模拟量数值到MotionCacher的MotionAO中
        /// </summary>
        /// <param name="adCode">AD码</param>
        void ReadAdValue(string adCode);

        /// <summary>
        /// 读取一次模拟量数值到MotionCacher的MotionAO中
        /// </summary>
        /// <param name="adIndex">AD序号</param>
        void ReadAdValue(short adIndex);
    }
}