CyberX8/CyberX8_RT/Devices/Galil/GalilAxis.cs

using Aitex.Core.RT.Device;
using MECF.Framework.Common.Beckhoff.IOAxis;
using MECF.Framework.Common.CommonData.PUF;
using MECF.Framework.Common.IOCore;
using MECF.Framework.Common.TwinCat;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Devices.Galil
{
    public class GalilAxis : BaseDevice, IDevice
    {
        #region 常量
        private const string MOTOR_POSITION = "MotorPosition";
        private const string POSITION_ERROR = "PositionError";
        #endregion

        #region 内部变量
        /// <summary>
        /// 变量是否初始化字典
        /// </summary>
        private Dictionary<string, bool> _variableInitializeDic = new Dictionary<string, bool>();
        /// <summary>
        /// 运动数据对象
        /// </summary>
        protected CommandMotionData _commandMotionData = new CommandMotionData();
        #endregion

        #region 属性
        /// <summary>
        /// 运动数据对象
        /// </summary>
        public CommandMotionData MotionData { get { return _commandMotionData; } }
        #endregion

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="moduleName"></param>
        /// <param name="name"></param>
        public GalilAxis(string moduleName, string name) : base(moduleName, name, name, name)
        {
        }
        #region public 公开方法
        /// <summary>
        /// 初始化
        /// </summary>
        /// <returns></returns>
        public bool Initialize()
        {
            SubscribeValueAction();
            return true;
        }
        /// <summary>
        /// 订阅变量数值发生变化
        /// </summary>
        protected void SubscribeValueAction()
        {
            BeckhoffIoSubscribeUpdateVariable(MOTOR_POSITION);
            BeckhoffIoSubscribeUpdateVariable(POSITION_ERROR);
        }

        /// <summary>
        /// 订阅IO变量
        /// </summary>
        /// <param name="variable"></param>
        private void BeckhoffIoSubscribeUpdateVariable(string variable)
        {
            _variableInitializeDic[variable] = false;
            IOModuleManager.Instance.SubscribeModuleVariable($"{Module}.{Name}", variable, UpdateVariableValue);
        }
        /// <summary>
        /// 更新变量数值
        /// </summary>
        /// <param name="variable"></param>
        /// <param name="value"></param>
        protected void UpdateVariableValue(string variable, object value)
        {
            if (value == null)
            {
                return;
            }
            if (_variableInitializeDic.ContainsKey(variable) && !_variableInitializeDic[variable])
            {
                _variableInitializeDic[variable] = true;
            }
            UpdateMotionData(variable, value);
        }
        /// <summary>
        /// 更新运动数据
        /// </summary>
        /// <param name="variable"></param>
        /// <param name="value"></param>
        private void UpdateMotionData(string variable, object value)
        {
            if (!MotionData.IsDataInitialized)
            {
                MotionData.IsDataInitialized = true;
            }
            PropertyInfo property = MotionData.GetType().GetProperty(variable);
            if (property != null)
            {
                property.SetValue(MotionData, value);
            }
        }
        #endregion


        /// <summary>
        /// 监控
        /// </summary>
        public void Monitor()
        {

        }
        public void Reset()
        {
        }

        /// 停止
        /// </summary>
        public void Terminate()
        {
        }
    }
}