SHJX_cod/SHJX.Service.ServerClient/PortControl/ManiPort.cs

using System;
using System.Threading;
using SHJX.Service.Model.Control;
using SHJX.Service.Common.Extend;
using SHJX.Service.Common.ReadXML;
using SHJX.Service.ServerClient.Interface;
using SHJX.Service.ServerClient.TempController;
using SHJX.Service.Common.Logging;
using Microsoft.Extensions.Logging;
namespace SHJX.Service.ServerClient.RS485Control
{
    /// <summary>
    /// 机械手操作
    /// </summary>
    public class ManiPort : SerialPortImp, PortControlImp
    {
        private static readonly ILogger logger = LogFactory.BuildLogger(typeof(ManiPort));
        /// <summary>
        /// 机械手
        /// </summary>
        /// <param name="log">日志</param>
        /// <param name="config">配置</param>
        public ManiPort(ReadConfigUtil config)
            : base(config) { }

        public bool Write(PortArgs args)
        {
            var res = args.WriteWay switch
            {
                WriteWay.Normotopia => zMotorStorage(args, "H"),
                WriteWay.Antiposition => zMotorStorage(args, "L"),
                _ => throw new ArgumentNullException(args.WriteWay.GetEnumDesc<WriteWay>())
            };
            Thread.Sleep(500);
            return res;
        }

        public object Read(PortArgs args)
        {
            object obj = args.ReadWay switch
            {
                "Judge" => GetJudge(args),
                "OriginalPosition" => JudgeStorage(args.NodeId),
                _ => throw new ArgumentNullException(args.ReadWay),
            };
            return obj;
        }

        public bool GetJudge(PortArgs args)
        {
            var storageRes = JudgeStorage(args.NodeId);
            if (storageRes is null) return false;
            var res = storageRes[4].Equals('0');
            return res;
        }
        private bool zMotorStorage(PortArgs args,string op)
        {
            string res1 = "";
            while (res1 != "0009\r" && res1 != "0209\r")
            {
                var storageRes = JudgeXYZMove(3); //抓手动之前Z轴要静止
                if (storageRes.Equals("")) return false;
                res1 = storageRes;
                Thread.Sleep(300);
            }
            return MotorStorage(args.NodeId, 1, op);
        }

    }
}