SHJX_cod/SHJX.Service.ServerClient/PortControl/MotorZPort.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>
    /// MotorZ通信
    /// </summary>
    public class MotorZPort : SerialPortImp, PortControlImp
    {
        private static readonly ILogger logger = LogFactory.BuildLogger(typeof(MotorZPort));
        /// <summary>
        /// Z轴
        /// </summary>
        /// <param name="log">日志</param>
        /// <param name="config">配置</param>
        public MotorZPort( ReadConfigUtil config)
            : base( config)
        {
            config.GetSpeed.ForEach(item => {
                if (item.NodeName == "MotorZ")
                    speedZ = item.Speed;
            });

        }
        private double speedZ = 0;

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

        public object GetOriginalPosition(PortArgs args)
        {
            var res = JudgeStorage(args.NodeId);
            if (res is null or { Length: 0 }) return false;
            return res[2].Equals('0');
        }

        public bool Write(PortArgs args)
        {
            //var portArgs = new PortArgs
            //{
            //    TypeName = "Mani",
            //    NodeId = 3,
            //    ReadWay = "Judge"
            //};
            long distance = args.Distance;
            //var resbool = GetJudge(portArgs);
            //if (resbool)
            //{
            //    distance /= 2;//通过判断抓手状态决定Z轴运行距离
            //}
            var res = args.WriteWay switch
            {
                WriteWay.Move => zmove(args),
                WriteWay.GoBack => MotorGoBack(args.NodeId, 3),
                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 zmove(PortArgs args)
        {
            string res1 = "";
            while (res1 != "0009\r" && res1 != "0209\r")
            {
                var storageRes = JudgeXYZMove(1);//Z轴动之前x轴要静止
                if (storageRes.Equals("")) return false;
                res1 = storageRes;
                Thread.Sleep(300);
            }
            res1 = "";
            while (res1 != "0009\r" && res1 != "0209\r")
            {
                var storageRes = JudgeXYZMove(2);//Z轴动之前Y轴要静止
                if (storageRes.Equals("")) return false;
                res1 = storageRes;
                Thread.Sleep(300);
            }
            return Move(args.NodeId, args.Distance, 50, speedZ);
        }

    }
}