SHJX_cod/SHJX.Service.ServerClient/ControllerTemp/ISerialPort.cs

using System;
using System.Linq;
using System.Threading;
using SHJX.Service.Common.ReadXML;
using SHJX.Service.ServerClient.RS485;
using SHJX.Service.Common.Logging;
using Microsoft.Extensions.Logging;
namespace SHJX.Service.ServerClient.TempController
{
    public abstract class SerialPortImp
    {
        private readonly ReadConfigUtil _config;
        private static readonly ILogger logger = LogFactory.BuildLogger(typeof(SerialPortImp));
        protected SerialPortImp( ReadConfigUtil config)
        {
            _config = config;
        }

        /// <summary>
        /// 数据下发
        /// </summary>
        /// <param name="value"></param>
        /// <param name="port"></param>
        /// <returns></returns>
        protected virtual bool SendFormat(string value, object port)
        {
            if (!Rs485Client.IsValid) return false;
            var res = Rs485Client.SendData(value, '\r');
            return string.Concat(port, '%', '\r').Equals(res);
        }

        /// <summary>
        /// 电机停止
        /// </summary>
        /// <param name="nodeId"></param>
        /// <returns></returns>
        public bool MotorStop(byte nodeId)
        {
            var value = $"{nodeId}ST\r";
            return SendFormat(value, nodeId);
        }

        /// <summary>
        /// 电机移动
        /// </summary>
        /// <param name="args"></param>
        /// <returns></returns>
        protected bool MotorMove(params object[] args)
        {
            string value = string.Format("{0}FL{1}\r", args);
            var res = SendFormat(value, args[0]);
            logger.LogInformation($"写入电机移动，端口：{args[0]}，数据：{value}，写入：{(res ? "成功" : "失败")}");
            return res;
        }

        /// <summary>
        /// 寄存器操作
        /// </summary>
        public bool MotorStorage(byte nodeId, int address, string way)
        {
            var value = $"{nodeId}SO{address}{way}\r";
            var res = SendFormat(value, nodeId);
            logger.LogInformation($"写入寄存器数据，端口：{nodeId}，地址：{address}，数据：{value}，写入：{(res ? "成功" : "失败")}");
            return res;
        }

        /// <summary>
        /// 检查寄存器
        /// </summary>
        /// <param name="nodeId"></param>
        /// <returns></returns>
        public char[] JudgeStorage(byte nodeId)
        {
            var value = $"{nodeId}IS\r";
            var res = Rs485Client.SendData(value, '\r');
            var chars = res.Replace($"{nodeId}IS=", string.Empty).Replace("\r", string.Empty).Reverse().ToArray();
            return chars;
        }

        public string JudgeXYZMove(byte nodeId)
        {
            var value = $"{nodeId}SC\r";
            if (!Rs485Client.IsValid) return "";
            var res = Rs485Client.SendData(value, '\r');
            return res.Split('=')[1];
        }


        /// <summary>
        /// 返回原点
        /// </summary>
        /// <param name="nodeId"></param>
        /// <param name="type"></param>
        /// <returns></returns>
        public bool MotorGoBack(byte nodeId, int type)
        {
            var value = $"{nodeId}FS{type}L\r";
            var res = SendFormat(value, nodeId);
            logger.LogInformation($"写入返回原点数据，端口：{nodeId}，数据：{value}，写入：{(res ? "成功" : "失败")}");
            if (!res) return res;
            do
            {
                var judgeRes = JudgeStorage(nodeId);
                if (judgeRes is null || judgeRes.Length < 1)
                {
                    res = false;
                    continue;
                }
                res = judgeRes[type - 1].Equals('0');
            } while (!res);
            Thread.Sleep(500);
            return res;
        }
        public bool MotorGoBackDissolvePort(byte nodeId, int type) //消解出来的时和液体硫酸亚铁胺单独写回原点，消解位因为不支持FS 回原点命令，出来只能用SH回原点，进去 的话可以用FS回原点
        {
            var value = $"{nodeId}SH{type}L\r";
            var res = SendFormat(value, nodeId);
            logger.LogInformation($"写入返回原点数据，端口：{nodeId}，数据：{value}，写入：{(res ? "成功" : "失败")}");
            if (!res) return res;
            do
            {
                var judgeRes = JudgeStorage(nodeId);
                if (judgeRes is null || judgeRes.Length < 1)
                {
                    res = false;
                    continue;
                }
                res = judgeRes[type - 1].Equals('0');
            } while (!res);
            Thread.Sleep(500);
            return res;
        }

        /// <summary>
        /// 设置速度
        /// </summary>
        /// <param name="nodeId"></param>
        /// <param name="speed"></param>
        /// <returns></returns>
        protected bool MotorSpeed(byte nodeId, double speed)
        {
            var value = $"{nodeId}VE{speed}\r";
            return SendFormat(value, nodeId);
        }

        /// <summary>
        /// 设置加速度
        /// </summary>
        /// <param name="nodeId"></param>
        /// <param name="speed"></param>
        /// <returns></returns>
        protected bool MotorAcSpeed(byte nodeId, double speed)
        {
            var value = $"{nodeId}AC{speed}\r";
            return SendFormat(value, nodeId);
        }

        /// <summary>
        /// 设置减速度
        /// </summary>
        /// <param name="nodeId"></param>
        /// <param name="speed"></param>
        /// <returns></returns>
        protected bool MotorDeSpeed(byte nodeId, double speed)
        {
            var value = $"{nodeId}DE{speed}\r";
            return SendFormat(value, nodeId);
        }

        /// <summary>
        /// 移动
        /// </summary>
        /// <param name="nodeId"></param>
        /// <param name="distance"></param>
        /// <returns></returns>
        public bool Move(byte nodeId, long distance, int interval, Double speed)
        {
            bool res = false;
            res = MotorMove(nodeId, distance);
            return res;
        }
    }
}