PunkHPX8/PunkHPX8_RT/Devices/AXIS/JetAxisBase.cs

using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Beckhoff.AxisProvider;
using MECF.Framework.Common.Beckhoff.IOAxis;
using MECF.Framework.Common.Beckhoff.Station;
using MECF.Framework.Common.CommonData.PUF;
using MECF.Framework.Common.TwinCat;
using MECF.Framework.Common.Utilities;
using PunkHPX8_Core;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Timers;
using CommunityToolkit.HighPerformance.Buffers;
using System.Windows.Documents;
using MECF.Framework.Common.Device.Galil;
using MECF.Framework.Common.Device;
using MECF.Framework.Common.IOCore;

namespace PunkHPX8_RT.Devices.AXIS
{
    public abstract class JetAxisBase : BaseDevice, IDevice
    {
        #region 常量
        private const string STATUS_WORD = "StatusWord";
        private const string DIGITAL_INPUTS="DigitalInputs";
        private const string CONTROL_WORD = "ControlWord";
        private const string MODE_OF_OPERATION = "ModeOfOperation";
        protected const string PROFILE_VELOCITY = "ProfileVelocity";
        protected const string PROFILE_ACCEL = "ProfileAccel";
        protected const string PROFILE_DECEL = "ProfileDecel";
        private const string TARGET_POSITION = "ReferencePosition";
        private const string MOTOR_POSITION = "MotorPosition";
        private const string ACTUAL_VELOCITY = "Velocity";
        private const string ACTUAL_TORQUE = "ActualTorque";
        private const string POSITION_ERROR = "PositionError";
        private const string MOTION_DATA = "MotionData";
        private const string CURRENT_STATION = "CurrentStation";
        protected const string CURRENT_STATION_LIST = "CurrentStationList";
        private const string IS_SWITCH_ON = "IsSwitchOn";
        private const string HOME_OFFSET = "HomeOffset";
        private const string HOMING_METHOD = "HomingMethod";
        protected const string HOMING_VELOCITY = "HomingVelocity";
        protected const string HOMING_VELOCITY_SLOW = "HomingVelocitySlow";
        protected const string HOMING_ACCEL = "HomingAccel";
        private const string NEGATIVE_TORQUE_LIMIT="NegativeTorqueLimit";
        private const string POSITIVE_TORQUE_LIMIT = "PositiveTorqueLimit";
        private const string MANUF_STATUS="ManufStatus";
        private const string SOFTWARE_LIMIT_MINUS= "SoftwareLimitMinus";
        private const string SOFTWARE_LIMIT_PLUS = "SoftwareLimitPlus";
        private const string STOP_CODE = "StopCode";
        private const string FORWARD_LIMIT = "ForwardLimit";
        #endregion

        #region 内部变量
        /// <summary>
        /// 比例因子
        /// </summary>
        private double _scaleFactor = 0;
        /// <summary>
        /// jog限制
        /// </summary>
        private double _jogLimit = 0;
        /// <summary>
        /// 当前位置数值(用于判定是否正在运动)
        /// </summary>
        private int _currentLocation = 0;
        /// <summary>
        /// 是否运动
        /// </summary>
        private bool _isRun = false;
        /// <summary>
        /// 当前位置
        /// </summary>
        private string _currentStation = "";
        /// <summary>
        /// 当前位置集合（多个位置共用一个数值）
        /// </summary>
        private List<string> _currentStationList = new List<string>();
        /// <summary>
        /// 当前位置锁
        /// </summary>
        private object _locationLocker = new object();
        /// <summary>
        /// 工位位置对象
        /// </summary>
        private BeckhoffStationAxis _stationAxis;
        /// <summary>
        /// 运动时间
        /// </summary>
        private DateTime _runTime = DateTime.Now;
        /// <summary>
        /// inter lock
        /// </summary>
        private IAxisInterLock _interLock;
        /// <summary>
        /// 是否存在Rev Sensor Limit
        /// </summary>
        private bool _isRevSensorLimit = false;
        /// <summary>
        /// 是否存在Forward Limit
        /// </summary>
        private bool _isForwardSensorLimit = false;
        /// <summary>
        /// Home Switched是否触发
        /// </summary>
        private bool _isHomeSwitchedTrigger = false;
        /// <summary>
        /// 变量是否初始化字典
        /// </summary>
        private Dictionary<string, bool> _variableInitializeDic = new Dictionary<string, bool>();
        #endregion

        #region protected 字段
        /// <summary>
        /// 轴参数对象
        /// </summary>
        protected AxisConfig _axisConfig = null;
        /// <summary>
        /// 状态
        /// </summary>
        protected RState _status;
        /// <summary>
        /// 当前操作
        /// </summary>
        protected MotionOperation _currentOperation = MotionOperation.None;
        /// <summary>
        /// 模式
        /// </summary>
        protected byte _modeOfOperation;
        /// <summary>
        /// 状态字
        /// </summary>
        protected ushort _statusWord;
        /// <summary>
        /// 控制字
        /// </summary>
        protected ushort _controlWord;
        /// <summary>
        /// 运动数据对象
        /// </summary>
        protected CommandMotionData _commandMotionData = new CommandMotionData();
        /// <summary>
        /// Home状态
        /// </summary>
        protected bool _isHomed;
        /// <summary>
        /// SwitchOn状态
        /// </summary>
        protected bool _isSwitchOn;
        /// <summary>
        /// 是否错误
        /// </summary>
        protected bool _isError;
        /// <summary>
        /// 是否到达目标位置
        /// </summary>
        protected bool _inTargetPosition = false;
        /// <summary>
        /// 初始化的速度
        /// </summary>
        protected int _initialVelocity = 0;
        /// <summary>
        /// 初始化的加速度
        /// </summary>
        protected int _initialAcceleration = 0;
        /// <summary>
        /// 初始化的减速度
        /// </summary>
        protected int _initialDeceleration = 0;
        /// <summary>
        /// 运动速度
        /// </summary>
        protected int _profileVelocity = 0;
        /// <summary>
        /// 运动加速度
        /// </summary>
        protected int _profileAcceleration = 0;
        /// <summary>
        /// 运动减速度
        /// </summary>
        protected int _profileDeceleration = 0;
        /// <summary>
        /// 负向Torque限制
        /// </summary>
        protected int _profileNegativeTorqueLimit = 0;
        /// <summary>
        /// 正向Torque限制
        /// </summary>
        protected int _profilePositiveTorqueLimit = 0;
        /// <summary>
        /// Homing 速度
        /// </summary>
        protected int _profileHomingVelocity = 0;
        /// <summary>
        /// Homing 速度Slow
        /// </summary>
        protected int _profileHomingVelocitySlow = 0;
        /// <summary>
        /// Homing加速度
        /// </summary>
        protected int _profileHomingAccel = 0;
        /// <summary>
        /// <summary>
        /// 目标位置
        /// </summary>
        protected double _targetPosition = 0.0;
        /// <summary>
        /// home超时时长
        /// </summary>
        protected int _homeTimeout = 5000;
        /// <summary>
        /// 速度比例
        /// </summary>
        protected int _speedRatio = 1;
        /// <summary>
        /// 加速度的比例
        /// </summary>
        protected int _accelerationRatio = 1;
        /// <summary>
        /// torque比例
        /// </summary>
        protected int _torqueRatio = 1000;
        /// <summary>
        /// Motion Position比例
        /// </summary>
        protected double _motionPositionRation = 1;
        /// <summary>
        /// Actual Velocity比例
        /// </summary>
        protected double _velocityRate = 1;
        /// <summary>
        /// Axis Operation Locker
        /// </summary>
        protected readonly object _operationLocker = new object();
        #endregion

        #region 属性
        /// <summary>
        /// 状态
        /// </summary>
        public RState Status { get { return _status; } }
        /// <summary>
        /// Home状态
        /// </summary>
        public bool IsHomed { get { return _isHomed; } set { _isHomed = value; } }
        /// <summary>
        /// SwitchOn状态
        /// </summary>
        public bool IsSwitchOn { get { return _isSwitchOn; } }
        /// <summary>
        /// 模式
        /// </summary>
        public byte ModeOfOperation { get { return _modeOfOperation; } }
        /// <summary>
        /// 控制字
        /// </summary>
        public ushort ControlWord { get { return _controlWord; } }
        /// <summary>
        /// 是否运动中
        /// </summary>
        public bool IsRun { get { return _isRun; } }
        /// <summary>
        /// 当前位置
        /// </summary>
        public string CurrentStation { get { return _currentStation; } }
        /// <summary>
        /// 是否到达目标位置
        /// </summary>
        public bool InTargetPosition { get { return _inTargetPosition; } }
        /// <summary>
        /// 运动数据对象
        /// </summary>
        public CommandMotionData MotionData { get { return _commandMotionData; } }
        /// <summary>
        /// 负向Torque限制数值
        /// </summary>
        public int NegativeTorqueLimit { get { return _profileNegativeTorqueLimit; } }
        /// <summary>
        /// 正向Torque限制数值
        /// </summary>
        public int PositiveTorqueLimit { get { return _profilePositiveTorqueLimit; } }
        /// <summary>
        /// 是否错误
        /// </summary>
        public bool IsError { get { return _isError; } }
        /// <summary>
        /// 目标位置
        /// </summary>
        public double TargetPosition { get { return _targetPosition; } }
        /// <summary>
        /// 加速度
        /// </summary>
        public double ProfileAcceleration { get { return _profileAcceleration; } }
        /// <summary>
        /// 减速度
        /// </summary>
        public double ProfileDeceleration { get { return _profileDeceleration; } }
        /// <summary>
        /// inter lock接口对象
        /// </summary>
        public IAxisInterLock InterLock { set { _interLock= value; } }
        /// <summary>
        /// 是否存在Sensor Limit
        /// </summary>
        public bool IsRevSensorLimit { set { _isRevSensorLimit = value; } }
        /// <summary>
        /// 是否存在正向Sensor Limit
        /// </summary>
        public bool IsForwardSensorLimit { set { _isForwardSensorLimit = value; } }
        /// <summary>
        /// Home Switch是否触发
        /// </summary>
        public bool IsHomeSwitchedTriggered { get { return _isHomeSwitchedTrigger; } set { _isHomeSwitchedTrigger = value; } }
        /// <summary>
        /// 所有io变量是否初始化
        /// </summary>
        public bool IOInitialized { get { return AllIoVariableInitialized(); } }
        /// <summary>
        /// ScaleFactor
        /// </summary>
        public double ScaleFactor { get { return _scaleFactor; } }
        /// <summary>
        /// ScaleFactor
        /// </summary>
        public double ToleranceDefault { get { return _stationAxis.ToleranceDefault; } }
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="moduleName"></param>
        /// <param name="name"></param>
        public JetAxisBase(string moduleName,string name) : base(moduleName, name,name,name)
        {
            InitializeParameter();
            LoadStation();
            InitializeRoutine();
            SubscribeData();
            InitializeOperation();
        }

        #region private方法
        /// <summary>
        /// 加载Station位置
        /// </summary>
        private void LoadStation()
        {
            _stationAxis = BeckhoffStationLocationManager.Instance.GetStationAxis(Module, Name);
        }
        /// <summary>
        /// 订阅数据
        /// </summary>
        private void SubscribeData()
        {
            BeckhoffProviderAxis beckhoffProviderAxis = BeckhoffAxisProviderManager.Instance.GetAxisProvider($"{Module}.{Name}");
            if (beckhoffProviderAxis != null)
            {
                _scaleFactor = beckhoffProviderAxis.ScaleFactor;
                _jogLimit = beckhoffProviderAxis.JogLimit;
                _motionPositionRation = beckhoffProviderAxis.MotorPositionRate;
                _velocityRate = beckhoffProviderAxis.VelocityRate;
            }
            _axisConfig = InitializeAxisConfig();
            if (_axisConfig != null)
            {
                _profileVelocity =CalculateMultiplySpeedRatio(_axisConfig.Speed);
                _initialVelocity = _profileVelocity;
                _profileAcceleration = CalculateDivideAccelerationRatio(_axisConfig.Acceleration);
                _initialAcceleration = _profileAcceleration;
                _profileDeceleration = CalculateDivideAccelerationRatio(_axisConfig.Deceleration);
                _initialDeceleration = _profileDeceleration;
                _profileNegativeTorqueLimit = _axisConfig.NegativeTorqueLimit;
                _profilePositiveTorqueLimit = _axisConfig.PositiveTorqueLimit;
                _commandMotionData.FileAcceleration = CalculateValueAfterScale(_axisConfig.Acceleration);
                _commandMotionData.FileDeceleration = CalculateValueAfterScale(_axisConfig.Deceleration);
                _commandMotionData.HomeOffset = CalculateValueAfterScale(_axisConfig.HomingOffset);
                _commandMotionData.FileHomingAccel = CalculateValueAfterScale(_axisConfig.HomingAcceleration);
                _commandMotionData.FileHomingVelocitySlow = CalculateValueAfterScale(_axisConfig.HomingSpeed);
                _commandMotionData.FileHomingVelocity = CalculateValueAfterScale(_axisConfig.HomingSpeed);
                _commandMotionData.FileProfileVelocity = CalculateValueAfterScale(_axisConfig.Speed);
                _commandMotionData.FwdSoftLimit = CalculateValueAfterScale(_axisConfig.ForwardSoftwareLimit)-_commandMotionData.HomeOffset;
                _commandMotionData.RevSoftLimit = CalculateValueAfterScale(_axisConfig.ReverseSoftwareLimit)-_commandMotionData.HomeOffset;
                _commandMotionData.NegativeTorqueLimit = _axisConfig.NegativeTorqueLimit;
                _commandMotionData.PositiveTorqueLimit = _axisConfig.PositiveTorqueLimit;
                if (_axisConfig.NegativeTorqueLimit != 0 || _axisConfig.PositiveTorqueLimit != 0)
                {
                    _commandMotionData.TorqueLimit = $"-{_axisConfig.NegativeTorqueLimit}/+{_axisConfig.PositiveTorqueLimit}";
                }
                if(_axisConfig.HomingTimeOut!=0)
                {
                    _homeTimeout = _axisConfig.HomingTimeOut;
                }
            }
            DATA.Subscribe($"{Module}.{Name}.{MOTION_DATA}", () => _commandMotionData,SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.{Name}.{MOTOR_POSITION}", () => _commandMotionData.MotorPosition,SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.{Name}.ProfileVelocity", () => _commandMotionData.ProfileVelocity, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.{Name}.Acceleration",()=>_commandMotionData.FileAcceleration,SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.{Name}.Deceleration",()=>_commandMotionData.FileDeceleration,SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.{Name}.ActualTorque",()=>_commandMotionData.ActualTorque,SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.{Name}.{CURRENT_STATION}", () => _currentStation,SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.{Name}.{CURRENT_STATION_LIST}", () => _currentStationList, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.{Name}.{IS_SWITCH_ON}", () => IsSwitchOn, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.{Name}.IsHomed", () => IsHomed, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.{Name}.IsError",()=>IsError, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.{Name}.IsMoving", () => _isRun, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.{Name}.IsRun", () => _isRun, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.{Name}.{FORWARD_LIMIT}", () => _commandMotionData.FwdLimited, SubscriptionAttribute.FLAG.IgnoreSaveDB);
        }
        /// <summary>
        /// 初始化操作
        /// </summary>
        private void InitializeOperation()
        {
            OP.Subscribe($"{Module}.{Name}.{MotionOperation.SwitchOn}", (cmd, args) => { SwitchOn(); return true; });
            OP.Subscribe($"{Module}.{Name}.{MotionOperation.SwitchOff}", (cmd, args) => { SwitchOff(); return true; });
            OP.Subscribe($"{Module}.{Name}.{MotionOperation.Home}", (cmd, args) => { Home(); return true; });
            OP.Subscribe($"{Module}.{Name}.JogUp", JogUpPosition);
            OP.Subscribe($"{Module}.{Name}.JogDown", JogDownPosition);
            OP.Subscribe($"{Module}.{Name}.{MotionOperation.KeyDown}", KeyDownOperation);
            OP.Subscribe($"{Module}.{Name}.{MotionOperation.Stop}",(cmd,args)=> { return StopPositionOperation(); });
            OP.Subscribe($"{Module}.{Name}.{MotionOperation.Save}", SaveOperation);
            OP.Subscribe($"{Module}.{Name}.GotoSavedPosition", (cmd, args) => { 
                return PositionStation(args[1].ToString()); });            
        }
        /// <summary>
        /// 保存操作
        /// </summary>
        /// <param name="cmd"></param>
        /// <param name="args"></param>
        /// <returns></returns>
        public bool SaveOperation(string cmd, object[] args)
        {
            if (args.Length >= 2)
            {
                string key = args[0].ToString();
                double paramValue = double.Parse(args[1].ToString());
                BeckhoffStationLocationManager.Instance.SaveMotionPosition(key, paramValue);

                lock (_locationLocker)
                {
                    List<string> lst = new List<string>();
                    foreach (Station item in _stationAxis.Stations)
                    {
                        if (item.Name == key)
                        {
                            item.Position = paramValue.ToString();
                            _currentStation = item.Name;
                            if (!lst.Contains(item.Name))
                            {
                                lst.Add(item.Name);
                            }
                        }
                    }

                    _currentStationList.Clear();
                    if (lst.Count != 0)
                    {
                        _currentStationList.AddRange(lst);
                    }
                }
                LOG.WriteLog(eEvent.INFO_AXIS, $"{Module}.{Name}", "save success");
            }
            return true;
        }

        /// <summary>
        /// 计算所处当前工位
        /// </summary>
        private void CalculateCurrentStation(double motor)
        {
            lock (_locationLocker)
            {
                List<string> tmp = _currentStationList.ToList();
                List<string> lst = new List<string>();
                foreach (Station station in _stationAxis.Stations)
                {
                    if (double.TryParse(station.Position, out double value))
                    {
                        if (Math.Round(Math.Abs(motor - value),2) <= _stationAxis.ToleranceDefault)
                        {
                            _currentStation = station.Name;
                            if (!lst.Contains(station.Name))
                            {
                                lst.Add(station.Name);
                            }
                        }
                    }
                }
                _currentStationList.Clear();
                if (lst.Count != 0)
                {
                    string str = string.Join(",", tmp);
                    _currentStationList.AddRange(lst);
                    string strLst = string.Join(",", _currentStationList);
                    if (str != strLst)
                    {
                        LOG.WriteLog(eEvent.INFO_AXIS, $"{Module}.{Name}", $"position {motor} current {strLst}");
                    }
                }
                else
                {
                    _currentStation = "";
                }
                if (tmp.Count != 0&&_currentStationList.Count==0)
                {
                    LOG.WriteLog(eEvent.INFO_AXIS, $"{Module}.{Name}", $"position {motor} current is empty");
                }
            }
        }
        /// <summary>
        ///  文本框回车操作
        /// </summary>
        /// <param name="cmd"></param>
        /// <param name="args"></param>
        /// <returns></returns>
        private bool KeyDownOperation(string cmd, object[] args)
        {
            if (args.Length < 2)
            {
                return false;
            }
            if (double.TryParse(args[1].ToString(), out double value))
            {
                AxisKeyDown(args[0].ToString(), value);
            }
            else
            {
                EV.PostWarningLog($"{Module}.{Name}", eEvent.ERR_AXIS, $"{args[0]} value {args[1]}is not int value");
            }
            return true;
        }

        /// <summary>
        /// 是否所有IO变量初始化完成
        /// </summary>
        /// <returns></returns>
        private bool AllIoVariableInitialized()
        {
            foreach (string item in _variableInitializeDic.Keys)
            {
                if (!_variableInitializeDic[item])
                {
                    LOG.WriteLog(eEvent.ERR_DRYER, Module, $"{item} is not initialized");
                    return false;
                }
            }
            return true;
        }

        /// <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)
            {
                if (JudgeIsScale(variable))
                {
                    if (int.TryParse(value.ToString(), out int intValue))
                    {
                        if (JudgeSpeedRatio(variable))
                        {
                            property.SetValue(MotionData, CalculateValueAfterScale(CalculateDivideSpeedRatio(intValue)));
                        }
                        else if(JudgeAccelerationRation(variable))
                        {
                            property.SetValue(MotionData, CalculateValueAfterScale(CalculateMultiplyAccelerationRatio(intValue)));
                        }
                        else
                        {
                            if (variable == MOTOR_POSITION)
                            {
                                intValue = (int)Math.Round(intValue * _motionPositionRation,0);
                            }
                            property.SetValue(MotionData, CalculateValueAfterScale(intValue));
                        }
                    }
                    else
                    {
                        property.SetValue(MotionData, value);
                    }                    
                }
                else if(variable==ACTUAL_TORQUE)
                {
                    if (short.TryParse(value.ToString(), out short shortValue))
                    {
                        property.SetValue(MotionData, CalculateDivideTorqueRatio(shortValue));
                    }
                    else
                    {
                        property.SetValue(MotionData, value);
                    }
                }
                else
                {
                    property.SetValue(MotionData, value);
                }
            }
            if (variable == IS_SWITCH_ON)
            {
                _isSwitchOn = MotionData.IsSwitchOn;
            }

        }

        /// <summary>
        /// 判定是否需要比例计算
        /// </summary>
        /// <param name="variable"></param>
        /// <returns></returns>
        private bool JudgeIsScale(string variable)
        {
            switch (variable)
            {
                case ACTUAL_VELOCITY:
                case PROFILE_VELOCITY:
                case PROFILE_ACCEL:
                case PROFILE_DECEL:
                case MOTOR_POSITION:
                case POSITION_ERROR:                
                case TARGET_POSITION:
                case HOMING_ACCEL:
                case HOMING_VELOCITY:
                case HOMING_VELOCITY_SLOW:
                case HOME_OFFSET:
                    return true;
                default:
                    return false;
            }
        }
        /// <summary>
        /// 判定是否需要速度调整比例
        /// </summary>
        /// <param name="variable"></param>
        /// <returns></returns>

        private bool JudgeSpeedRatio(string variable)
        {
            switch (variable)
            {
                case PROFILE_VELOCITY:
                case ACTUAL_VELOCITY:
                case HOMING_VELOCITY:
                case HOMING_VELOCITY_SLOW:
                case HOME_OFFSET:
                    return true;
                default:
                    return false;
            }
        }
        /// <summary>
        /// 是否是加速度调整比例
        /// </summary>
        /// <param name="variable"></param>
        /// <returns></returns>
        protected bool JudgeAccelerationRation(string variable)
        {
            switch(variable)
            {
                case PROFILE_ACCEL:
                case PROFILE_DECEL:
                case HOMING_ACCEL:
                    return true;
                default:
                    return false;
            }
        }

        /// <summary>
        /// motor position发生变化
        /// </summary>
        /// <param name="location"></param>
        private void MotionPositionChanged(int location)
        {
            if(Math.Round(Math.Abs(location - _currentLocation)/_scaleFactor, 2)>0)
            //if (Math.Abs(location - _currentLocation)/_scaleFactor >= _stationAxis.ToleranceDefault)
            {
                _currentLocation = location;
                _runTime = DateTime.Now;
                _isRun = true;
            }
        }
        /// <summary>
        /// 更新Digital Inputs
        /// </summary>
        /// <param name="digitalInputs"></param>
        private void UpdateDigitalInputs(uint digitalInputs)
        {
            if (_isRevSensorLimit)
            {
                MotionData.RevLimited = !(((digitalInputs>>18) & 0x01) == 0x01);
            }
            if(_isForwardSensorLimit)
            {
                MotionData.FwdLimited = !(((digitalInputs >> 17) & 0x01) == 0x01);
            }
            MotionData.HomedSwitched =((digitalInputs>>22)&0x01) == 0x01;
            if(!_isHomeSwitchedTrigger&&MotionData.HomedSwitched)
            {
                _isHomeSwitchedTrigger = true;
            }
        }
        /// <summary>
        /// 更新ManufactureStatus
        /// </summary>
        /// <param name="manufactureStatus"></param>
        private void UpdateManufactureStatus(uint manufactureStatus)
        {
            MotionData.HomedSwitched = ((manufactureStatus >> 26)&0x01) == 0x01;
            if (!_isHomeSwitchedTrigger && MotionData.HomedSwitched)
            {
                _isHomeSwitchedTrigger = true;
            }
        }
        /// <summary>
        /// 更新Torque Limited状态
        /// </summary>
        private void UpdateTorqueLimited()
        {
            if(MotionData.NegativeTorqueLimit!=0||MotionData.PositiveTorqueLimit!=0)
            {
                MotionData.TorqueLimited = (MotionData.ActualTorque >= -MotionData.NegativeTorqueLimit) && (MotionData.ActualTorque <= MotionData.PositiveTorqueLimit) ;
            }
            else
            {
                MotionData.TorqueLimited = true;
            }
        }
        /// <summary>
        /// 根据位置获取相应的Position数值
        /// </summary>
        /// <param name="station"></param>
        /// <returns></returns>
        public (bool success,double position) GetPositionByStation(string station)
        {
            foreach(Station item in _stationAxis.Stations)
            {
                if(item.Name.ToLower().EndsWith(station.ToLower()))
                {
                    if(double.TryParse(item.Position,out double position))
                    {
                        return (true, position);
                    }
                    else
                    {
                        return (false, 0);
                    }
                }
            }
            return (false, 0);
        }
        #endregion

        #region protected 子类使用共用类，子类不再扩展

        /// <summary>
        /// 计算比例后的数值
        /// </summary>
        /// <param name="value"></param>
        /// <returns></returns>
        protected double CalculateValueAfterScale(int value)
        {
            if (_scaleFactor != 0)
            {
                return Math.Round((double)value / _scaleFactor, 2);
            }
            else
            {
                return (double)value;
            }
        }
        /// <summary>
        /// 确认操作状态
        /// </summary>
        /// <param name="operation"></param>
        protected void ConfirmOperationState(MotionOperation operation)
        {
            if (_currentOperation == operation)
            {
                _status = RState.End;
                EndOperation();
            }
        }
        /// <summary>
        /// 结束操作
        /// </summary>
        protected void EndOperation()
        {
            LOG.WriteLog(eEvent.INFO_AXIS,$"{Module}.{Name}", $"{Module}.{Name} execute {_currentOperation} complete");
            _currentOperation = MotionOperation.None;
            _targetPosition = 0;
        }

        /// <summary>
        /// 订阅IO变量
        /// </summary>
        /// <param name="variable"></param>
        public void AxisSubscribeUpdateVariable(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;
            }
            FirstStartUpWriteCOE(variable);
            if (variable == MODE_OF_OPERATION)
            {
                if (_modeOfOperation == (byte)AxisModeOfOperation.None)
                {
                    byte.TryParse(value.ToString(), out _modeOfOperation);
                }
                else
                {
                    _modeOfOperation = (byte)value;
                }
            }
            else if (variable == STATUS_WORD)
            {
                if (ushort.TryParse(value.ToString(), out _statusWord))
                {
                    MotionData.StatusWord = _statusWord;
                    UpdateStatusWord(_statusWord);
                }
            }
            else if (variable == CONTROL_WORD)
            {
                ushort.TryParse(value.ToString(), out _controlWord);
            }
            else if (variable == MOTOR_POSITION)
            {
                if (int.TryParse(value.ToString(), out int location))
                {
                    MotionPositionChanged(location);
                    if (_axisConfig.ForwardSoftwareLimit != 0)
                    {
                        MotionData.ForwardSoftwareLimited = location > _axisConfig.ForwardSoftwareLimit-_axisConfig.HomingOffset;
                        if (!_isForwardSensorLimit && !_isRevSensorLimit)
                        {
                            MotionData.FwdLimited = MotionData.ForwardSoftwareLimited;
                        }
                    }
                    if (_axisConfig.ReverseSoftwareLimit != 0)
                    {
                        MotionData.ReverseSoftwareLimited = location < _axisConfig.ReverseSoftwareLimit-_axisConfig.HomingOffset;
                        if (!_isRevSensorLimit && !_isForwardSensorLimit)
                        {
                            MotionData.RevLimited = MotionData.ReverseSoftwareLimited;
                        }
                    }
                }
            }
            else if (variable == DIGITAL_INPUTS)
            {
                if (uint.TryParse(value.ToString(), out var uintValue))
                {
                    UpdateDigitalInputs(uintValue);
                }
            }
            else if (variable == MANUF_STATUS)
            {
                if (uint.TryParse(value.ToString(), out var uintValue))
                {
                    UpdateManufactureStatus(uintValue);
                }
            }
            UpdateMotionData(variable, value);
            if (variable == MOTOR_POSITION)
            {
                CalculateCurrentStation(MotionData.MotorPosition);
            }
            if (variable == ACTUAL_TORQUE)
            {
                UpdateTorqueLimited();
            }
            else if (variable == POSITIVE_TORQUE_LIMIT || variable == NEGATIVE_TORQUE_LIMIT)
            {
                MotionData.TorqueLimit = $"-{MotionData.NegativeTorqueLimit}/+{MotionData.PositiveTorqueLimit}";
            }
            if(variable == FORWARD_LIMIT)
            {
                MotionData.FwdLimited = (bool)value;
            }
            if(variable == ACTUAL_VELOCITY)
            {
                MotionData.ActualVelocity = Math.Round((int)value / _scaleFactor / _velocityRate, 2);
            }
            if(variable == TARGET_POSITION)
            {
                MotionData.TargetPosition = Math.Round((int)value / _scaleFactor, 2);
            }
        }

        /// <summary>
        /// 监控（用于判定是否停止运动）
        /// </summary>
        protected void JudgeRunMonitor()
        {
            if (_isRun && DateTime.Now.Subtract(_runTime).TotalMilliseconds >= 1000)
            {
                _isRun = false;
            }
        }
        #endregion

        #region public 公开方法
        /// <summary>
        /// 初始化
        /// </summary>
        /// <returns></returns>
        public bool Initialize()
        {
            SubscriptionVariable();
            return true;
        }
        /// <summary>
        /// 当前位置是否离目标位置不远
        /// </summary>
        /// <param name="targetPosition"></param>
        /// <returns></returns>
        public bool JudgeCurrentPositionIsInTargetPosition(int targetPosition)
        {
            double scaledTargetPosition = targetPosition /_scaleFactor;
            double currentMotionPosition = MotionData.MotorPosition;
            double delta = Math.Round(Math.Abs(currentMotionPosition - scaledTargetPosition), 2);
            bool result = delta <= _stationAxis.ToleranceDefault;
            return result;
        }
        /// <summary>
        /// 计算乘以比例后的数值
        /// </summary>
        /// <param name="value"></param>
        /// <returns></returns>
        public int CalculateValueMultiplyScale(double value)
        {
            if (_scaleFactor != 0)
            {
                return (int)Math.Round(value * _scaleFactor, 0);
            }
            else
            {
                return (int)Math.Round(value, 0);
            }
        }
        /// <summary>
        /// 计算乘上速度比例后的速度
        /// </summary>
        /// <param name="speed"></param>
        /// <returns></returns>
        public int CalculateMultiplySpeedRatio(int speed)
        {
            return speed * _speedRatio;
        }
        /// <summary>
        /// 计算乘上加速度比例后的加速度
        /// </summary>
        /// <param name="acceleration"></param>
        /// <returns></returns>
        public int CalculateMultiplyAccelerationRatio(int acceleration)
        {
            return acceleration * _accelerationRatio;
        }
        /// <summary>
        /// 计算除以速度比例后的速度
        /// </summary>
        /// <param name="speed"></param>
        /// <returns></returns>
        public int CalculateDivideSpeedRatio(int speed)
        {
            return speed / _speedRatio;
        }
        /// <summary>
        /// 计算除以加速度比例后的加速度
        /// </summary>
        /// <param name="acceleration"></param>
        /// <returns></returns>
        public int CalculateDivideAccelerationRatio(int acceleration)
        {
            return acceleration / _accelerationRatio;
        }
        /// <summary>
        /// 计算除以Torque比例后的Torque
        /// </summary>
        /// <param name="speed"></param>
        /// <returns></returns>
        public double CalculateDivideTorqueRatio(int torque)
        {
            return Math.Round((double)torque / _torqueRatio, 2);            
        }
        /// <summary>
        /// Jog Up
        /// </summary>
        /// <param name="cmd"></param>
        /// <param name="args"></param>
        /// <returns></returns>
        public bool JogUpPosition(string cmd, object[] args)
        {
            double jog=(double)args[1];
            double currentPosition=MotionData.MotorPosition;
            if(_jogLimit!=0)
            {
                if(jog>_jogLimit)
                {
                    LOG.WriteLog(eEvent.ERR_AXIS, Module, $"Jog Value {jog} is over {_jogLimit}");
                    return false;
                }
            }
            if (!_isSwitchOn)
            {
                LOG.WriteLog(eEvent.ERR_AXIS, Module, $"Axis is switch off,cannot jog");
                return false;
            }
            return ProfilePositionOperation(Math.Round(currentPosition + jog,2));
        }
        /// <summary>
        /// Jog Down
        /// </summary>
        /// <param name="cmd"></param>
        /// <param name="args"></param>
        /// <returns></returns>
        public bool JogDownPosition(string cmd, object[] args)
        {
            double jog = (double)args[1];
            double currentPosition = MotionData.MotorPosition;
            if (_jogLimit != 0)
            {
                if (jog > _jogLimit)
                {
                    LOG.WriteLog(eEvent.ERR_AXIS, Module, $"Jog Value {jog} is over {_jogLimit}");
                    return false;
                }
            }
            if(!_isSwitchOn)
            {
                LOG.WriteLog(eEvent.ERR_AXIS, Module, $"Axis is switch off,cannot jog");
                return false;
            }
            return ProfilePositionOperation(Math.Round(currentPosition - jog,2));
        }
        /// <summary>
        /// Profile position操作
        /// </summary>
        /// <param name="cmd"></param>
        /// <param name="args"></param>
        /// <returns></returns>
        public bool ProfilePositionOperation(double position)
        {
            _targetPosition = position;
            int targetPosition = CalculateValueMultiplyScale(_targetPosition);
            if (_axisConfig.ForwardSoftwareLimit != 0 && targetPosition > _axisConfig.ForwardSoftwareLimit - _axisConfig.HomingOffset)
            {
                LOG.WriteLog(eEvent.ERR_AXIS, Module, $"target position {_targetPosition} is over forward limit");
                return false;
            }
            if (_axisConfig.ReverseSoftwareLimit != 0 && targetPosition < _axisConfig.ReverseSoftwareLimit - _axisConfig.HomingOffset)
            {
                LOG.WriteLog(eEvent.ERR_AXIS, Module, $"target position {_targetPosition} is less reverse limit");
                return false;
            }
            bool result= ProfilePosition(targetPosition, _profileVelocity, _profileAcceleration, _profileDeceleration);
            if (result)
            {
                MotionData.TargetPosition = _targetPosition;
            }
            return result;
        }
        /// <summary>
        /// 移动至指定位置
        /// </summary>
        /// <param name="targetStation"></param>
        /// <returns></returns>
        public bool PositionStation(string targetStation,bool isHome=false,int velocity=0,int acceleration=0,int deceleration=0, bool judgeTorqueLimit = true)
        {
            if (!CheckPositionIsInStation(MotionData.MotorPosition,targetStation))
            {
                if(_interLock!=null&&!isHome&&!_interLock.CheckGotoPosition(targetStation))
                {
                    return false;
                }

                var result=GetPositionByStation(targetStation);
                if(result.success)
                {
                    _targetPosition = result.position;
                    int targetPosition = (int)Math.Round(result.position*_scaleFactor, 0);
                    bool positionResult = false;
                    if (velocity != 0)
                    {
                        positionResult= ProfilePosition(targetPosition, velocity, acceleration, deceleration, judgeTorqueLimit);
                    }
                    else
                    {
                        positionResult= ProfilePosition(targetPosition, _profileVelocity, _profileAcceleration, _profileDeceleration, judgeTorqueLimit);
                    }
                    if (positionResult)
                    {
                        MotionData.TargetPosition = _targetPosition;
                    }
                    return positionResult;
                }
                LOG.WriteLog(eEvent.ERR_AXIS, Module, $"{targetStation} not in list,cannot goto fixed position");
                return false;
            }
            else
            {
                _status = RState.End;
            }
            return true;
        }
        /// <summary>
        /// 开始运动
        /// </summary>
        /// <returns></returns>
        public bool WriteStartMotion()
        {
            bool result = StartMotion();
            if (result)
            {
                _runTime = DateTime.Now;
            }
            return result;
        }
        
        /// <summary>
        /// 检验GotoPosition条件
        /// </summary>
        /// <param name="station"></param>
        public bool CheckGotoPosition(string station)
        {
            return _interLock.CheckGotoPosition(station);
        }
        
        /// <summary>
        /// 检验当位Position是否在位置上
        /// </summary>
        /// <param name="position"></param>
        /// <param name="stationName"></param>
        /// <returns></returns>
        public bool CheckPositionIsInStation(double position,string stationName)
        {
            foreach (Station station in _stationAxis.Stations)
            {
                string[] strAry = station.Name.Split('.');
                if(strAry.Length == 0)
                {
                    continue;
                }
                if (strAry[strAry.Length-1].ToLower()==(stationName.ToLower()))
                {
                    if (double.TryParse(station.Position, out double value))
                    {
                        if (Math.Round(Math.Abs(position - value), 2) <= _stationAxis.ToleranceDefault)
                        {
                            return true;
                        }
                    }
                }
            }
            return false;
        }
        /// <summary>
        /// 检验电机已经完成了Homed
        /// </summary>
        /// <returns></returns>
        public bool CheckAxisIsAreadyHomed()
        {
            if (!_isSwitchOn)
            {
                return false;
            }
            if (CheckPositionIsEmpty(MotionData.MotorPosition))
            {
                return false;
            }
            if (!_isHomed)
            {
                _isHomed = true;
            }
            return true;
        }
        /// <summary>
        /// 检验位置（忽略WaferSize）
        /// </summary>
        /// <param name="position"></param>
        /// <param name="stationName"></param>
        /// <returns></returns>
        public bool CheckPositionInStationIgnoreWaferSize(double position,string stationName)
        {
            foreach (Station station in _stationAxis.Stations)
            {
                if (station.Name.ToLower().Contains(stationName.ToLower()))
                {
                    if (double.TryParse(station.Position, out double value))
                    {
                        if (Math.Round(Math.Abs(position - value), 2) <= _stationAxis.ToleranceDefault)
                        {
                            return true;
                        }
                    }
                }
            }
            return false;
        }
        /// <summary>
        /// 检验位置是否为空
        /// </summary>
        /// <param name="position"></param>
        /// <returns></returns>
        public bool CheckPositionIsEmpty(double position)
        {
            foreach (Station station in _stationAxis.Stations)
            {
                if (double.TryParse(station.Position, out double value))
                {
                    if (Math.Round(Math.Abs(position - value), 2) <= _stationAxis.ToleranceDefault)
                    {
                        return false;
                    }
                }
            }
            return true;

        }

        /// <summary>
        /// 更改速度百分比
        /// </summary>
        /// <param name="percent"></param>
        /// <returns></returns>
        public bool ChangePercentSpeedAceleration(int percent)
        {
            double percentSpeed = _initialVelocity * ((double)percent / 100);
            double percentAceleration = _initialAcceleration * ((double)percent / 100);
            double percentDeceleration = _initialDeceleration * ((double)percent / 100);
            int changedSpeed = (int)(Math.Round(percentSpeed, 0));
            int changedAcceleration = (int)(Math.Round(percentAceleration, 0));
            int changedDeceleration = (int)(Math.Round(percentDeceleration, 0));
            bool result = ChangeSpeedAcceleration(changedSpeed, changedAcceleration, changedDeceleration);
            if (result)
            {
                _profileVelocity = changedSpeed;
                _profileAcceleration = changedAcceleration;
                _profileDeceleration = changedDeceleration;
            }
            return result;
        }
        /// <summary>
        /// 判定与目标位置相对关系
        /// </summary>
        /// <param name="station"></param>
        /// <param name="compareType">Left--位于目标位置左侧，Right--位于目标位置右侧</param>
        /// <returns></returns>
        public bool JudgeCompareTargetStation(string station,string compareType)
        {
            double position = 0;
            var result = GetPositionByStation(station);
            if(result.success)
            {
                position = result.position;
            }
            else
            {
                return false;
            }
            double compareInterval = SC.GetValue<double>("System.CompareInterval");
            switch(compareType)
            {
                case "Left":
                    return IsInStationLeftDirection(position,compareInterval);
                case "Right":
                    return IsInStationRightPosition(position,compareInterval);
                default:
                    return false;
            }
        }
        /// <summary>
        /// 是否位于位置左侧
        /// </summary>
        /// <param name="stationPosition"></param>
        /// <returns></returns>
        private bool IsInStationLeftDirection(double stationPosition,double compareInterval)
        {
            double currentPosition = MotionData.MotorPosition;
            double targetPosition = _targetPosition;
            if(_currentOperation==MotionOperation.Position)
            {
                return currentPosition <= stationPosition-compareInterval && targetPosition <= stationPosition - compareInterval;
            }
            else
            {
                return currentPosition <= stationPosition-compareInterval;
            }
        }
        /// <summary>
        /// 是否位于位置右侧
        /// </summary>
        /// <param name="stationPosition"></param>
        /// <returns></returns>
        private bool IsInStationRightPosition(double stationPosition, double compareInterval)
        {
            double currentPosition = MotionData.MotorPosition;
            double targetPosition = _targetPosition;
            if (_currentOperation == MotionOperation.Position)
            {
                return currentPosition > stationPosition+compareInterval && targetPosition > stationPosition + compareInterval;
            }
            else
            {
                return currentPosition > stationPosition+compareInterval ;
            }
        }
        #endregion

        #region virtual共用方法,子类可实现更多方法
        /// <summary>
        /// Home共用方法
        /// </summary>
        /// <returns></returns>
        public virtual bool Home()
        {
            if (!_isSwitchOn)
            {
                EV.PostAlarmLog($"{Module}.{Name}", eEvent.ERR_PUF, $"{Module}.{Name} switch off,cannot home");
                return false;
            }
            if (_status == RState.Running)
            {
                EV.PostAlarmLog($"{Module}.{Name}", eEvent.ERR_PUF, $"{Module}.{Name} current execute {_currentOperation},cannot home");
                return false;
            }

            _currentOperation = MotionOperation.Home;
            _status = RState.Running;
            return true;
        }

        /// <summary>
        /// Home(isLogError)共用方法
        /// </summary>
        /// <returns></returns>
        public virtual bool Home(bool isLogError)
        {
            if (!_isSwitchOn)
            {
                EV.PostAlarmLog($"{Module}.{Name}", eEvent.ERR_PUF, $"{Module}.{Name} switch off,cannot home");
                return false;
            }
            if (_status == RState.Running)
            {
                EV.PostAlarmLog($"{Module}.{Name}", eEvent.ERR_PUF, $"{Module}.{Name} current execute {_currentOperation},cannot home");
                return false;
            }

            _currentOperation = MotionOperation.Home;
            _status = RState.Running;
            return true;
        }
        /// <summary>
        /// 首次启动写入COE线程
        /// </summary>
        public virtual void FirstStartUpWriteCOE(string variable)
        {
        }
        /// <summary>
        /// 启动写入COE线程
        /// </summary>
        public virtual void StartUpWriteCoeThread()
        {
        }
        /// <summary>
        /// 开始运动
        /// </summary>
        /// <returns></returns>
        public virtual bool StartMotion()
        {
            return true;
        }
        #endregion

        #region public abstract 子类实现方法
        /// <summary>
        /// 停止操作
        /// </summary>
        /// <param name="cmd"></param>
        /// <param name="args"></param>
        /// <returns></returns>
        public abstract bool StopPositionOperation();
        /// <summary>
        /// change speed
        /// </summary>
        /// <param name="speed"></param>
        /// <returns></returns>
        public abstract bool ChangeSpeed(int speed);
        /// <summary>
        /// 改变速度加速度
        /// </summary>
        /// <param name="speed"></param>
        /// <returns></returns>
        public abstract bool ChangeSpeedAcceleration(int speed, int acceleration, int deceleration);
        /// <summary>
        /// Switch On
        /// </summary>
        public abstract bool SwitchOn();
        /// <summary>
        /// Switch Off
        /// </summary>
        public abstract bool SwitchOff();
        /// <summary>
        /// 停止
        /// </summary>
        public abstract void Stop();

        /// <summary>
        /// 定时器执行
        /// </summary>
        /// <returns></returns>
        public abstract bool OnTimer();
        /// <summary>
        /// Profile operation
        /// </summary>
        /// <param name="targetPoint"></param>
        /// <param name="profileVelocity"></param>
        /// <param name="profileAcceleration"></param>
        /// <param name="profileDeceleration"></param>
        public abstract bool ProfilePosition(int targetPoint, int profileVelocity, int profileAcceleration, int profileDeceleration, bool judgeTorqueLimit = true);

        #endregion

        #region protected abstract 子类实现方法
        /// <summary>
        /// 初始化axis配置
        /// </summary>
        /// <returns></returns>
        protected abstract AxisConfig InitializeAxisConfig();
        /// <summary>
        /// 初始化Routine
        /// </summary>
        protected abstract void InitializeRoutine();
        /// <summary>
        /// 初始化参数
        /// </summary>
        protected abstract void InitializeParameter();
        /// <summary>
        /// 更新状态字
        /// </summary>
        /// <param name="statusWord"></param>
        public abstract void UpdateStatusWord(ushort statusWord);
        /// <summary>
        /// 回车输入
        /// </summary>
        /// <param name="arg"></param>
        /// <param name="value"></param>
        protected abstract void AxisKeyDown(string arg, double value);        
        /// <summary>
        /// 订阅数据
        /// </summary>
        protected abstract void SubscriptionVariable();
        #endregion

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

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