// /************************************************************************
// * @file         IoElecExchangeData.cs
// * @author   Su Liang
// * @date       2023/02/25
// *
// * @copyright &copy Sicentury Inc.
// *
// * @brief
// *
// * @details
// *
// *
// * *****************************************************************************/

using System;
using System.Runtime.Serialization;

namespace Aitex.Core.Common.DeviceData.IoDevice
{
    [Serializable]
    [DataContract]
    public class IoElecGripperExchangeData : ExchangeDataBase
    {
        [DataMember]
        public float PosRt { get; set; }
        
        [DataMember]
        public float PosReleaseFb { get; set; }
        
        [DataMember]
        public float PosReleaseSp { get; set; }
        
        [DataMember]
        public float PosClampFb { get; set; }
        
        [DataMember]
        public float PosClampSp { get; set; }
        
        [DataMember]
        public bool IsClamped { get; set; }

        [DataMember]
        public bool IsReleased { get; set; }
        
        [DataMember]
        public float ForceRt { get; set; }
        
        [DataMember]
        public float ForceSp { get; set; }
        
        [DataMember]
        public bool IsMaterialPresence { get; set; }
        
        /// <summary>
        /// 返回夹爪上是否无产品
        /// </summary>
        public bool IsMaterialFree => !IsMaterialPresence;

    }
}