SHJX_cod/SHJX.Service.Control/PortOperate/Interface/PortOperateImp.cs

using Polly;
using System;
using System.Threading;
using SHJX.Service.ServerClient;
using SHJX.Service.Model.Control;

namespace SHJX.Service.Control.PortOperate.Interface
{
    /// <summary>
    /// 泵操作
    /// </summary>
    public abstract class PortOperateImp
    {
        protected readonly OptClient _client;

        protected string OpName { get; set; }

        public PortOperateImp(OptClient optClient)
        {
            _client = optClient;
        }

        /// <summary>
        /// 操作液体的方式
        /// </summary>
        /// <param name="quantity">体积</param>
        /// <param name="pipeName"></param>
        public virtual bool LiquidOperation(string pipeName, long quantity)
        {
            CutPipe(pipeName);
            return MotorWrite(quantity); //吸液
        }

        /// <summary>
        /// 返回原点
        /// </summary>
        /// <param name="pipeName">管道名称</param>
        public virtual void GoBackOriginalPosition(string pipeName)
        {
            CutPipe(pipeName);
            GoBack();
        }

        /// <summary>
        /// 返回原点
        /// </summary>
        private void GoBack()
        {
            PortArgs gobackArg = new()
            {
                TypeName = OpName,
                WriteWay = WriteWay.GoBack
            };
            bool gb_write;
            do
            {
                gb_write = _client.Factory(OpName).Write(gobackArg);
                Thread.Sleep(2000);
            } while (!gb_write);
            bool res;
            do
            {
                char[] readRes = Read();
                if (readRes is null or { Length: 0 })
                {
                    Thread.Sleep(1000);
                    res = false;
                    continue;
                };
                res = readRes[2].Equals('0');
            } while (!res);
        }

        /// <summary>
        /// 到达限位
        /// </summary>
        /// <returns></returns>
        public bool ArriveEndPoint()
        {
            var readRes = Read();
            if (readRes is null or { Length: 0 })
                return false;
            return readRes[2].Equals('0');
        }

        /// <summary>
        /// 读取寄存器
        /// </summary>
        /// <returns></returns>
        protected char[] Read()
        {
            PortArgs readArgs = new()
            {
                TypeName = OpName
            };
            var readRes = _client.Factory(OpName).Read(readArgs) as char[];
            return readRes;
        }

        /// <summary>
        /// 切换管道
        /// </summary>
        /// <param name="pipeName"></param>
        protected virtual void CutPipe(string pipeName)
        {
            var readRes = Read();
            if (readRes is null or { Length: 0 }) return;
            OptPipe(() =>
            {
                var readRes = Read();
                if (readRes is null or { Length: 0 })
                {
                    Thread.Sleep(1000);
                    return false;
                }
                var res = pipeName switch
                {
                    "In" => readRes[5].Equals('0'),
                    "Out" => readRes[6].Equals('0'),
                    _ => false,
                };
                return res;
            });
        }

        /// <summary>
        /// 选择管道（出 or 吸）
        /// </summary>
        /// <param name="func"></param>
        protected void OptPipe(Func<bool> func)
        {
            var res = func.Invoke();
            if (res) return;

            #region 打开寄存器

            PortArgs switchArg = new()
            {
                TypeName = OpName,
                WriteWay = WriteWay.Normotopia
            };
            bool openRes;
            do
            {
                openRes = _client.Factory(OpName).Write(switchArg);
                Thread.Sleep(1000);
            } while (!openRes);
            #endregion

            Policy.HandleResult<bool>(arg => arg.Equals(false))
                .RetryForever(_ => { MotorWrite(-100); })
                .Execute(func);

            #region 关闭该寄存器

            switchArg.WriteWay = WriteWay.Antiposition;
            do
            {
                openRes = _client.Factory(OpName).Write(switchArg);
                Thread.Sleep(1000);
            } while (!openRes);
            #endregion
        }

        /// <summary>
        /// 写入脉冲
        /// </summary>
        /// <param name="distance"></param>
        protected bool MotorWrite(long distance)
        {
            PortArgs args = new()
            {
                TypeName = OpName,
                WriteWay = WriteWay.Move,
                Distance = distance
            };
            var res = _client.Factory(OpName).Write(args);
            int speedWaitTime = OpName switch
            {
                "SilverSulfate" => 300,
                _ => 500,
            };
            Thread.Sleep((int)(Math.Abs(distance) / 20000 * speedWaitTime));
            return res;
        }
    }
}