CyberX8/Framework/Common/Simulator/MotorSimulator.cs

using Aitex.Common.Util;
using Aitex.Core.Util;
using MECF.Framework.Common.CommonData.PUF;
using MECF.Framework.Common.Device.Galil;
using System.Collections.Generic;
using System.IO;

namespace MECF.Framework.Common.Simulator
{
    /// <summary>
    /// 电机运动模拟器
    /// </summary>
    public class MotorSimulator : Singleton<MotorSimulator>
    {
        #region 内部变量
        /// <summary>
        /// 定时器
        /// </summary>
        private PeriodicJob _periodicJob;
        /// <summary>
        /// 电机数据字典(key:Name(module.name)，value:Datas)
        /// </summary>
        private Dictionary<string, CommandMotionData> _motorNameDataDic = new Dictionary<string, CommandMotionData>();
        #endregion

        #region 属性

        #endregion

        //delegate
        #region Delegate
        public delegate void UpdateVariableValueChanged(Dictionary<string, CommandMotionData> datasDic);
        #endregion

        #region 事件
        /// <summary>
        /// 变量变更事件
        /// </summary>
        public event UpdateVariableValueChanged OnUpdateVariableValueChanged;
        #endregion
        /// <summary>
        /// 初始化
        /// </summary>
        public void Initialize()
        {

            _periodicJob = new PeriodicJob(100, OnTimer, "Motor Simulator Timer", false);//***打开
            Init();
        }
        /// <summary>
        /// 初始化
        /// </summary>
        private void Init()
        {
            ////加载对应配置文件 GalilControllerCfg-Simulator.xml，初始化数据字典
            string oldXmlPath = PathManager.GetCfgDir();
            string newXmlPath = oldXmlPath.Replace("CyberX8_Simulator", "CyberX8_RT") + "Devices\\GalilControllerCfg-Simulator.xml";
            GalilControllerCfg cfg = CustomXmlSerializer.Deserialize<GalilControllerCfg>(new FileInfo(newXmlPath));
            foreach (GalilDeviceConfig config in cfg.GalilDeviceConfigs)
            {               
                foreach (GalilAxisConfig item in config.GalilAxises)
                {
                    _motorNameDataDic[$"{config.Module}.{item.Name}"] = new CommandMotionData();
                }
            }
        }
        /// <summary>
        /// 定时器执行
        /// </summary>
        /// <returns></returns>
        private bool OnTimer()
        {
            //电机运动物理模型

            return true;
        }
        /// <summary>
        /// 通知Galil模块数据变化
        /// </summary>
        /// <param name="data"></param>
        private void UpdateVariableValue(Dictionary<string, CommandMotionData> datasDic)
        {
            if (OnUpdateVariableValueChanged != null)
            {
                OnUpdateVariableValueChanged(datasDic);
            }
        }
    }
}