using MECF.Framework.Common.CommonData;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.Serialization;
using System.Text;
using System.Threading.Tasks;

namespace MECF.Framework.Common.CommonData.PUF
{
    [DataContract]
    public class CommandMotionData : NotifiableItem
    {
        #region 属性

        [DataMember]
        public string Status
        {
            get { return _status; }
            set { _status=value;InvokePropertyChanged(nameof(Status));}
        }
        [DataMember]
        public bool IsSwitchOn
        {
            get { return _isSwitchOn; }
            set{ _isSwitchOn = value;InvokePropertyChanged(nameof(IsSwitchOn)); }
        }

        [DataMember]
        public bool IsHomed
        {
            get { return _isHomed; }
            set{_isHomed= value;InvokePropertyChanged(nameof(IsHomed)); }
        }
        [DataMember]
        public double MotorPosition
        {
            get { return _motorPosition; }
            set {_motorPosition = value;InvokePropertyChanged(nameof(MotorPosition));}
        }
        [DataMember]
        public double TargetPosition
        {
            get { return _targetPosition; }
            set {  _targetPosition = value;InvokePropertyChanged(nameof(TargetPosition));}
        }
        [DataMember]
        public double PositionError
        {
            get { return _positionError; }
            set 
            { _positionError = value;InvokePropertyChanged(nameof(PositionError));}
        }
        [DataMember]
        public double ActualTorque
        {
            get { return _actualTorque; }
            set {  _actualTorque = value; InvokePropertyChanged(nameof(ActualTorque)); }
        }
        [DataMember]
        public double ActualVelocity
        {
            get { return _actualVelocity; }
            set { _actualVelocity=value; InvokePropertyChanged(nameof(ActualVelocity)); }
        }
        [DataMember]
        public double ProfileVelocity
        {
            get { return _profileVelocity; }
            set {  _profileVelocity = value; InvokePropertyChanged(nameof(ProfileVelocity)); }
        }
        [DataMember]
        public double FileProfileVelocity
        {
            get { return _fileProfileVelocity; }
            set { _fileProfileVelocity = value; InvokePropertyChanged(nameof(FileProfileVelocity)); }
        }

        [DataMember]
        public double ProfileAccel
        {
            get { return _profileAccel; }
            set { _profileAccel = value; InvokePropertyChanged(nameof(ProfileAccel)); }
        }
        [DataMember]
        public double FileAcceleration
        {
            get { return _fileAcceleration; }
            set { _fileAcceleration = value; InvokePropertyChanged(nameof(FileAcceleration)); }
        }
        [DataMember]
        public double ProfileDecel
        {
            get { return _profileDecel; }
            set { _profileDecel = value; InvokePropertyChanged(nameof(ProfileDecel)); }
        }
        [DataMember]
        public double FileDeceleration
        {
            get { return _fileDeceleration; }
            set { _fileDeceleration = value;InvokePropertyChanged(nameof(FileDeceleration)); }
        }
        [DataMember]
        public double HomeOffset
        {
            get { return _homeOffset; }
            set { _homeOffset = value; InvokePropertyChanged(nameof(HomeOffset)); }
        }
        [DataMember]
        public double PositionErrorLimit
        {
            get { return _positionErrorLimit; }
            set { _positionErrorLimit=value; InvokePropertyChanged(nameof(PositionErrorLimit)); }
        }
        [DataMember]
        public double TargetPositionErrorLimit
        {
            get { return _targetPositionErrorLimit; }
            set {  _targetPositionErrorLimit = value; InvokePropertyChanged(nameof(TargetPositionErrorLimit)); }
        }
        [DataMember]
        public string TorqueLimit
        {
            get { return _torqueLimit; }
            set {  _torqueLimit = value; InvokePropertyChanged(nameof(TorqueLimit)); }
        }
        [DataMember]
        public double EStopDeceleration
        {
            get { return _eStopDeceleration; }
            set {  _eStopDeceleration = value; InvokePropertyChanged(nameof(EStopDeceleration)); }
        }
        [DataMember]
        public double EStopTorque
        {
            get { return _eStopTorque; }
            set { _eStopTorque = value; InvokePropertyChanged(nameof(EStopTorque)); }
        }
        [DataMember]
        public double RevSoftLimit
        {
            get { return _revSoftLimit; }
            set {  _revSoftLimit = value; InvokePropertyChanged(nameof(RevSoftLimit)); }
        }
        [DataMember]
        public double FwdSoftLimit
        {
            get { return _fwdSoftLimit; }
            set { _fwdSoftLimit = value; InvokePropertyChanged(nameof(FwdSoftLimit)); }
        }
        [DataMember]
        public bool RevLimited
        {
            get { return _revLimited; }
            set { _revLimited = value; InvokePropertyChanged(nameof(RevLimited)); }
        }
        [DataMember]
        public bool HomedSwitched
        {
            get { return _homeSwitched; }
            set { _homeSwitched = value; InvokePropertyChanged(nameof(HomedSwitched)); }
        }
        [DataMember]
        public bool FwdLimited
        {
            get { return _fwdLimited; }
            set { _fwdLimited = value; InvokePropertyChanged(nameof(FwdLimited)); }
        }
        [DataMember]
        public byte HomingMethod
        {
            get { return _homingMethod; }
            set { _homingMethod = value; InvokePropertyChanged(nameof(HomingMethod)); }
        }
        [DataMember]
        public double HomingVelocity
        {
            get { return _homingVelocity; }
            set { _homingVelocity = value; InvokePropertyChanged(nameof(HomingVelocity)); }
        }
        [DataMember]
        public double FileHomingVelocity
        {
            get { return _fileHomingVelocity; }
            set { _fileHomingVelocity = value; InvokePropertyChanged(nameof(_fileHomingVelocity)); }
        }
        [DataMember]
        public double HomingVelocitySlow
        {
            get { return _homingVelocitySlow; }
            set { _homingVelocitySlow = value; InvokePropertyChanged(nameof(HomingVelocitySlow)); }
        }
        [DataMember]
        public double FileHomingVelocitySlow
        {
            get { return _fileHomingVelocitySlow; }
            set { _fileHomingVelocitySlow = value; InvokePropertyChanged(nameof(FileHomingVelocitySlow)); }
        }
        [DataMember]
        public double HomingAccel
        {
            get { return _homingAccel; }
            set { _homingAccel = value;InvokePropertyChanged(nameof(HomingAccel)); }
        }

        [DataMember]
        public double FileHomingAccel
        {
            get { return _fileHomingAccel; }
            set { _fileHomingAccel = value; InvokePropertyChanged(nameof(FileHomingAccel)); }
        }
        [DataMember]
        public uint DigitalInputs
        {
            get { return _digitalInputs; }
            set { _digitalInputs = value; InvokePropertyChanged(nameof(DigitalInputs)); }
        }
        [DataMember]
        public int PositiveTorqueLimit
        {
            get { return _positiveTorqueLimit; }
            set { _positiveTorqueLimit = value; InvokePropertyChanged(nameof(PositiveTorqueLimit)); }
        }
        [DataMember]
        public int NegativeTorqueLimit
        {
            get { return _negativeTorqueLimit; }
            set { _negativeTorqueLimit = value; InvokePropertyChanged(nameof(NegativeTorqueLimit)); }
        }
        [DataMember]
        public bool TorqueLimited
        {
            get { return _torqueLimited; }
            set { _torqueLimited = value; InvokePropertyChanged(nameof(TorqueLimited)); }
        }
        [DataMember]
        public bool ForwardSoftwareLimited
        {
            get { return _forwardSoftwareLimited; }
            set { _forwardSoftwareLimited = value; InvokePropertyChanged(nameof(ForwardSoftwareLimited)); }
        }
        [DataMember]
        public bool ReverseSoftwareLimited
        {
            get { return _reverseSoftwareLimited; }
            set { _reverseSoftwareLimited = value; InvokePropertyChanged(nameof(ReverseSoftwareLimited)); }
        }
        public ushort StatusWord
        {
            get { return _statusWord; }
            set { _statusWord = value; InvokePropertyChanged(nameof(StatusWord)); }
        }
        public byte StopCode
        {
            get { return _stopCode; }
            set { _stopCode = value; InvokePropertyChanged(nameof(StopCode)); }
        }
        [DataMember]
        public bool IsDataInitialized
        {
            get { return _isDataInitialized; }
            set { _isDataInitialized = value; InvokePropertyChanged(nameof(IsDataInitialized)); }
        }
        #endregion
        #region 内部变量
        private string _status;
        private bool _isSwitchOn;
        private bool _isHomed;
        private double _motorPosition;
        private double _targetPosition;
        private double _positionError;
        private double _actualTorque;
        private double _actualVelocity;
        private double _profileVelocity;
        private double _profileAccel;
        private double _profileDecel;
        private double _fileProfileVelocity;
        private double _fileAcceleration;
        private double _fileDeceleration;
        private double _homeOffset;
        private double _positionErrorLimit;
        private double _targetPositionErrorLimit;
        private string _torqueLimit;
        private double _eStopDeceleration;
        private double _eStopTorque;
        private double _revSoftLimit;
        private double _fwdSoftLimit;
        private bool _revLimited;
        private bool _homeSwitched;
        private bool _fwdLimited;
        private byte _homingMethod;
        private double _homingVelocity;
        private double _fileHomingVelocity;
        private double _homingVelocitySlow;
        private double _fileHomingVelocitySlow;
        private double _homingAccel;
        private double _fileHomingAccel;
        private uint _digitalInputs;
        private int _negativeTorqueLimit;
        private int _positiveTorqueLimit;
        private bool _torqueLimited=true;
        private bool _forwardSoftwareLimited;
        private bool _reverseSoftwareLimited;
        private ushort _statusWord;
        private byte _stopCode;
        private bool _isDataInitialized;
        #endregion

    }
}