SHJX_cod/SHJX.Service.Control/Route/RouteController/DissolveMoveOperate.cs

using System;
using SHJX.Service.Model.Control;
using SHJX.Service.Control.Modules;
using SHJX.Service.Control.Interface;
using System.Threading.Tasks;
using SHJX.Service.Common.ReadXML;
using System.Collections.Generic;
namespace SHJX.Service.Control.Route.RouteController
{
    /// <summary>
    /// 消解位移动
    /// </summary>
    public class DissolveMoveOperate : FlowControlOperateImp
    {
        private const string Name = "DissolvePosition";
        private const string OpName = "Dissolve";
        public virtual bool Operate(ReadConfigUtil config, DataEventArgs data)
        {  
            var clearPos = Name.GetEquipmentState();
            var portArgs = new PortArgs
            {
                ManualOrAuto = "Auto",
                TypeName = OpName,
                Distance = -DataCentre.GetConfig.GetPositionDistance("Dissolve")
            };
            switch (data.Task.RouteStep)
            {
                case "Clear_In":
                    MotorSpeed itemSpeed = config.GetSpeed[0];
                    itemSpeed.Speed = 6;
                    SetSpeed(itemSpeed);
                    itemSpeed = config.GetSpeed[1];
                    itemSpeed.Speed = 6;
                    SetSpeed(itemSpeed);
                    List<string> names = new() { "MotorZ", "MotorX", "MotorY" };
                    names.ForEach(async item =>
                    {
                        var res = await XYZGoBack(item);
                       
                    });
                    itemSpeed = config.GetSpeed[0];
                    SetSpeed(itemSpeed);
                    itemSpeed = config.GetSpeed[1];
                    SetSpeed(itemSpeed);
                    portArgs.WriteWay = WriteWay.Normotopia;
                    if (clearPos.EquipmentState.Equals(EquipmentEnum.Normotopia))
                    {
                        clearPos.EquipmentState = EquipmentEnum.Antiposition;
                    }
                    break;
                case "Clear_Out":
                    MotorSpeed itemSpeed1 = config.GetSpeed[0];
                    itemSpeed1.Speed = 6;
                    SetSpeed(itemSpeed1);
                    itemSpeed1 = config.GetSpeed[1];
                    itemSpeed1.Speed = 6;
                    SetSpeed(itemSpeed1);
                    List<string> names1 = new() { "MotorZ", "MotorX", "MotorY" };
                    names1.ForEach(async item =>
                    {
                        var res = await XYZGoBack(item);

                    });
                    itemSpeed1 = config.GetSpeed[0];
                    SetSpeed(itemSpeed1);
                    itemSpeed1 = config.GetSpeed[1];
                    SetSpeed(itemSpeed1);
                    portArgs.WriteWay = WriteWay.Antiposition;
                    if (clearPos.EquipmentState.Equals(EquipmentEnum.Antiposition))
                    {
                        clearPos.EquipmentState = EquipmentEnum.Normotopia;
                    }
                    break;
                default:
                    throw new ArgumentNullException(data.Task.RouteStep);
            }
            var res = data.Client.Factory(OpName).Write(portArgs);
            data.DataManager.Update(clearPos);
            return res;
        }
        private async Task<bool> XYZGoBack(string name)
        {
            var portArgs = new PortArgs()
            {
                ReadWay = "OriginalPosition",
                TypeName = name,
                WriteWay = WriteWay.GoBack
            };
            
            var res= (bool)DataCentre.GetClient.Factory(name).Read(portArgs) || DataCentre.GetClient.Factory(name).Write(portArgs);
            name.UpdateMotorPoint();
            return res;
            
        }
        public bool SetSpeed(MotorSpeed speed)
        {
            #region 速度
            PortArgs speedArgs = new PortArgs()
            {
                TypeName = speed.NodeName,
                Distance = speed.Speed,
                WriteWay = WriteWay.Speed
            };
            var res = DataCentre.GetClient.Factory(speed.NodeName).Write(speedArgs);
            #endregion

            return res;
        }
    }
}