using System.ComponentModel;
using static Aurora.Api.Devices.Motor;

namespace AuroraMotionBoard.Ajin
{
    public class AJINMotorConfig : BaseConfig
    {
        [ReadOnly(true)]
        public string Name { get; set; }
        public double Speed { get; set; } = 10;
        public double ManualSpeed { get; set; }
        public double HighJogSpeed { get; set; }
        public double MidJogSpeed { get; set; }
        public double LowJogSpeed { get; set; }
        public double Acceleration { get; set; } = 1000;
        public double Deceleration { get; set; } = 1000;
        public double ManualAcceleration { get; set; } = 1000;


        public double LowMoveSpeed { get; set; } = 100;
        public double LowMoveAcc { get; set; } = 1000;
        public double MidMoveSpeed { get; set; } = 200;
        public double MidMoveAcc { get; set; } = 1000;
        public double HighMoveSpeed { get; set; } = 300;
        public double HighMoveAcc { get; set; } = 1000;

        // 홈 셋팅 파라미터는 MOT 파일에 셋팅 된 것으로 동작함
        //[Category("Home Setting Param")]
        //public double VelFirst { get; set; } = 30.0;
        //public double VelSecond { get; set; } = 30.0;
        //public double VelThird { get; set; } = 20.0;
        //public double VelLast { get; set; } = 1.0;
        //public double AccFirst { get; set; } = 0.1;
        //public double AccSecond { get; set; } = 0.1;
        //public double Resolution { get; set; } = 2000.0;
        //public int HomeDir { get; set; } = (int)AXT_MOTION_MOVE_DIR.DIR_CW;
        //public double EncoderClearDelayTime { get; set; } = 2000.0; // 원점검색 완료 후 지령위치와 Encoder위치를 Clear하기 위해 대기하는 시간설정 [mSec단위]

        [DisplayName("SW Limit +")]
        public double SWLimitPlus { get; set; } = 100000;
        [DisplayName("SW Limit -")]
        public double SWLimitMinus { get; set; } = -100000;

        [DisplayName("In Pos")]
        public double InPos { get; set; } = 1e-2;   // Default: prismatic 조인트: [mm] 기준

        [DisplayName("HW Safety Position")]
        public double SafetyPosition { get; set; } = -999.0;

        public AJINMotorConfig(string motorName)
        {
            ConnConfig = null;
            Name = motorName;
            MoveRange = (0, 1800);
            VelocityRange = (0, 500);
        }
    }
}