SHJX_GM/SHJX.Service.Control/Execute/ExecuteCommand.cs

using SHJX.Service.Common.ReadXML;
using System.Windows.Threading;
using SHJX.Service.Control.Extends;

namespace SHJX.Service.Control.Execute
{
    public class ExecuteCommand 
    {
        private static readonly ILogger logger = LogFactory.BuildLogger(typeof(ExecuteCommand));

        private static IDataManager _dataManager;
        private static ReadConfigUtil _config;
        private static readonly object recode_lock = new();
        private static IEventAggregator _ea;
        public static List<ShowStatusValueArgs> statusValue = new();
        private static string ShowStatusBefore = "";
        public ExecuteCommand(IEventAggregator ea, IDataManager dataManager, TaskExtend taskExtend, ReadConfigUtil config)
        {
            _ea = ea;
            _dataManager = dataManager;
            _config = config;
        }

        /// <summary>
        /// 寄存器操作
        /// </summary>
        /// <param name="typeName">类型</param>
        /// <param name="time">时间</param>
        /// <returns></returns>
        public static bool RegisterExecute(string typeName, double time)
        {
            if (time <= 0)
            {
                return true;
            }
            bool res = typeName.RegisterOpen();
            Thread.Sleep(Convert.ToInt32(Math.Round(time * 1000)));
            return res && typeName.RegisterClose();
        }

        /// <summary>
        /// 电机返回原点
        /// </summary>
        /// <param name="typeName"></param>
        /// <returns></returns>
        public static bool MotorGoBackExecute(string typeName)
        {
            try
            {
                bool res = false;
                if (typeName.In(EquipmentNames.AxisX, EquipmentNames.AxisY)) //这段代码是xy移动距离大于1000前要看z是否回到原点
                {
                    char[] judgeRes = EquipmentNames.AxisZ.MotorRead();
                    if (judgeRes is null or { Length: 0 })
                    {
                        return false;
                    }
                    if (!judgeRes[3 - 1].Equals('0'))
                    {
                        EquipmentNames.AxisZ.MotorGoBack();
                    }

                    if (typeName == EquipmentNames.AxisX)
                    {
                        MotorSpeed speed = _dataManager.Query<MotorSpeed>().Where(it => it.SystemName.Equals(EquipmentNames.AxisX)).First();
                        res = speed.SystemName.WriteSpeed(6);
                    }
                    if (typeName == EquipmentNames.AxisY)
                    {
                        MotorSpeed speed = _dataManager.Query<MotorSpeed>().Where(it => it.SystemName.Equals(EquipmentNames.AxisY)).First();
                        res = speed.SystemName.WriteSpeed(6);
                    }
                }
                bool writeResponse = typeName.MotorGoBack();
                if (!writeResponse)
                {
                    return false;
                }
                MotorMoveStatus moveStatus = _dataManager.Query<MotorMoveStatus>().Where(it => it.MotorName.Equals(typeName)).First();
                if (moveStatus is null)
                {
                    return writeResponse;
                }
                moveStatus.CurrentPosition = 0;
                writeResponse = writeResponse && _dataManager.Update(moveStatus) > 0;
                logger.LogDebug($"下发{typeName}返回原点{(writeResponse ? "成功" : "失败")}");

                if (typeName == EquipmentNames.AxisX)
                {
                    MotorSpeed speed = _dataManager.Query<MotorSpeed>().Where(it => it.SystemName.Equals(EquipmentNames.AxisX)).First();
                    res = speed.SystemName.WriteSpeed(speed.Speed);
                }
                if (typeName == EquipmentNames.AxisY)
                {
                    MotorSpeed speed = _dataManager.Query<MotorSpeed>().Where(it => it.SystemName.Equals(EquipmentNames.AxisY)).First();
                    res = speed.SystemName.WriteSpeed(speed.Speed);
                }


                return writeResponse;
            }
            catch (Exception ex)
            {
                logger.LogError(ex.ToString());
                return false;
            }
        }

        /// <summary>
        /// 电机移动
        /// </summary>
        /// <param name="typeName">类型名称</param>
        /// <param name="task">任务</param>
        public static bool MotorMoveExecute(string typeName, EquipmentTask task)
        {
            try
            {
                string movePoint = string.Empty;
                movePoint = task.Target switch
                {
                    "From" => task.From,
                    "To" => task.To,
                    _ => throw new ArgumentNullException(task.Target),
                };
                EquipmentArea area = _dataManager.Query<EquipmentArea>().Where(item => item.PointName.Equals(movePoint)).First();
                if (area is null)
                {
                    return false;
                }
                MotorMoveStatus moveStatus = _dataManager.Query<MotorMoveStatus>().Where(item => item.MotorName.Equals(typeName)).First();
                if (moveStatus is null)
                {
                    return false;
                }
                MotorConvert motorConvert = _dataManager.Query<MotorConvert>().Where(item => item.MotorName.Equals(typeName)).First();
                if (motorConvert is null)
                {
                    return false;
                }
                #region 移动距离 
                char[] readRes = EquipmentNames.Tongs.MotorRead(); //这里需要读取
                if (typeName == EquipmentNames.AxisX|| typeName == EquipmentNames.AxisY)//X,Y的话要看z在不在原点
                {
                    if (!readRes[2].Equals('0'))
                    {
                        logger.LogDebug($"X,Y运动前Z轴回原点命令发送");
                        ExecuteCommand.MotorGoBackExecute(EquipmentNames.AxisZ);
                    }
                }
                bool judgeRes = false;
                if (typeName == EquipmentNames.AxisZ)//抓着杯的时候 抓手不需要太向下
                {
                    judgeRes = readRes[4].Equals('0');
                }
                double? localPos = typeName switch
                {
                    EquipmentNames.AxisX => area?.LocationX - moveStatus?.CurrentPosition,
                    EquipmentNames.AxisY => area?.LocationY - moveStatus?.CurrentPosition,
                    EquipmentNames.AxisZ => judgeRes ? area?.LocationZF : area?.LocationZ,
                    _ => throw new ArgumentNullException(typeName),
                };
                
                double? distance = typeName switch
                {
                    EquipmentNames.AxisX or EquipmentNames.AxisY or EquipmentNames.AxisZ => -1 * localPos * motorConvert?.ConvertRatio,
                    _ => throw new ArgumentNullException(typeName)
                };
                #endregion
                bool writeResponse = typeName.MotorMove(Convert.ToInt32(Math.Round(distance ?? 0)));
                logger.LogDebug($"{task.Source}   ==>   下发{typeName}{(writeResponse ? "成功" : "失败")}");
                if (!writeResponse)
                {
                    return false;
                }
                moveStatus.CurrentPosition += localPos ?? 0;
                return _dataManager.Update(moveStatus) > 0;
            }
            catch (Exception)
            {
                throw;
            }
        }

        public static bool ShowStatus(EquipmentTask task)
        {
            try
            {
                if (task is null||task.SerialKey==0)
                {
                    return false;
                }
                lock (recode_lock)
                {
                    ShowStatusValueArgs status = new ShowStatusValueArgs();
                    if (ShowStatusBefore == task.RouteStep.ToString())
                    {
                        return true;
                    }
                    ShowStatusBefore = task.RouteStep.ToString();
                    string step = task.RouteStep.ToString() switch
                    {
                        "AddLiquid" => "加液",
                        "AddLiquidGoback" => "加液返回",
                        "Dissolve" => "消解",
                        "DissolveGoback" => "消解结束",
                        "Titration" => "1号滴定",
                        "Titration2" => "2号滴定",
                        "TitrationGoback" => "1号滴定返回",
                        "Titration2Goback" => "2号滴定返回",
                    };
                    status.CurrentContent = task.Source + "：" + step + "-" + "从（" + task.From + "）到（" + task.To + "）";
                    status.Name = task.Source.ToString();
                    _ea.GetEvent<UpdateStausEvent>().Publish(status);
                    return true;
                }
            }
            catch
            {
                return false;
            }
        }
        public static bool ShowStatusAction(EquipmentTask task, string value)
        {
            try
            {
                if (task is null)
                {
                    return false;
                }
                lock (recode_lock)
                {
                    ShowStatusValueArgs status = new ShowStatusValueArgs();
                    if (ShowStatusBefore == value)
                    {
                        return true;
                    }
                    ShowStatusBefore = value;
                    string step = value switch
                    {
                        "Sodium2Hydroxide" => "氢氧化钠",
                        "Titration1Vitriol" => "滴定硫酸1",
						"Titration2Vitriol" => "滴定硫酸2",
                        "AddLiquidVitriol" => "加液硫酸",
                        "Titration1PotassiumPermanganate" => "高锰酸钾1",
                        "AddLiquidPotassiumPermanganate" => "加液高锰酸钾2",
                        "Sodium1Oxalate" => "草酸钠1",
                        "Sodium2Oxalate" => "草酸钠2",
                    };
                    status.CurrentContent = task.Source + "：加入" + "（" + step + "）溶液";
                    if (task.Source is null) 
                    {
                        status.Name = "清洗";
                    }
                    else
                        status.Name = task.Source.ToString();
                    _ea.GetEvent<UpdateStausEvent>().Publish(status);
                    return true;
                }
            }
            catch
            {
                return false;
            }
        }
        public static bool ShowStatusOpenClose(EquipmentTask task, string value)
        {
            try
            {
                if (task is null)
                {
                    return false;
                }
                lock (recode_lock)
                {
                    ShowStatusValueArgs status = new ShowStatusValueArgs();
                    if (ShowStatusBefore == value)
                    {
                        return true;
                    }
                    status.CurrentContent = task.Source + "：" + value;
                    if (task.Source is null)
                    {
                        status.Name = "清洗";
                    }
                    else
                        status.Name = task.Source.ToString();
                    _ea.GetEvent<UpdateStausEvent>().Publish(status);
                    return true;
                }
            }
            catch
            {
                return false;
            }
        }
    }
}