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

using System;

using System.Threading;
using SHJX.Service.Common.Extend;
using SHJX.Service.Common.ReadXML;
using SHJX.Service.Model.Control;
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>
    /// Y轴操作
    /// </summary>
    public class MotorYPort : SerialPortImp, PortControlImp
    {
        private static readonly ILogger logger = LogFactory.BuildLogger(typeof(MotorYPort));
        /// <summary>
        /// Y轴
        /// </summary>
        /// <param name="log">日志</param>
        /// <param name="config">配置</param>
        /// 
        public MotorYPort( ReadConfigUtil config)
            : base( config) 
        {
            config.GetSpeed.ForEach(item=> {
                if (item.NodeName == "MotorY")
                speedY = item.Speed;
            });

        }
        private double speedY = 0;

        public object Read(PortArgs args)
        {
            object obj = args.ReadWay switch
            {
                "OriginalPosition" => ReadOriginalPosition(args.NodeId),
                _ => JudgeStorage(args.NodeId),
            };
            return obj;
        }

        private bool ReadOriginalPosition(byte NodeId)
        {
            var res = JudgeStorage(NodeId);
            if (res is null or { Length: 0 }) return false;
            return res[7].Equals('0');
        }

        public bool Write(PortArgs args)
        {
            var res = args.WriteWay switch
            {
                WriteWay.Move => yMove(args),
                WriteWay.GoBack => yMotorGoBack(args),
                WriteWay.Stop => MotorStop(args.NodeId),
                WriteWay.Speed => MotorSpeed(args.NodeId, args.Distance),
                WriteWay.AcSpeed => MotorAcSpeed(args.NodeId, args.Distance),
                WriteWay.DeSpeed => MotorDeSpeed(args.NodeId, args.Distance),
                _ => throw new ArgumentNullException(args.WriteWay.GetEnumDesc<WriteWay>()),
            };

            return res;
        }
        private bool yMove(PortArgs args)
        {
            bool res = true;
            //var judgeRes = JudgeStorage(3);
            //if (judgeRes is null || judgeRes.Length < 1)
            //    return false;
            //if (!judgeRes[3 - 1].Equals('0'))
            //{
            //    res = MotorGoBack(3, 3);
            //}
            return res && Move(args.NodeId, args.Distance, 50, speedY);
        }

        private bool yMotorGoBack(PortArgs args)
        {
            bool res = true;
            //var judgeRes = JudgeStorage(3);
            //if (judgeRes is null || judgeRes.Length < 1)
            //    return false;
            //if (!judgeRes[3 - 1].Equals('0'))
            //{
            //    res = MotorGoBack(3, 3);
            //}
            return res && MotorGoBack(args.NodeId, 8);
        }
    }
}