PunkHPX8/PunkHPX8_RT/Devices/PlatingCell/PlatingCellDevice.cs

using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Beckhoff.ModuleIO;
using MECF.Framework.Common.CommonData.Metal;
using MECF.Framework.Common.CommonData.PlatingCell;
using MECF.Framework.Common.CommonData.Reservoir;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.IOCore;
using MECF.Framework.Common.Persistent.Reservoirs;
using MECF.Framework.Common.ToolLayout;
using PunkHPX8_Core;
using PunkHPX8_RT.Devices.AXIS;
using PunkHPX8_RT.Devices.LinMot;
using PunkHPX8_RT.Devices.PowerSupplier;
using PunkHPX8_RT.Devices.Reservoir;
using PunkHPX8_RT.Devices.VpwMain;
using PunkHPX8_RT.Modules;
using PunkHPX8_RT.Modules.PlatingCell;
using PunkHPX8_RT.Modules.Reservoir;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;

namespace PunkHPX8_RT.Devices.PlatingCell
{
    public class PlatingCellDevice : BaseDevice, IDevice
    {
        #region 常量 
        private const string PERSISTENT_VALUE = "PersistentValue";
        private const string PLATINGCELLDATA = "PlatingCellData";
        private const string AUTO = "Auto";
        private const string MANUAL = "Manual";
        private const string STRATUS = "Stratus";
        private const string DISABLED = "Disabled";
        
        
        private const string IS_HEAD_TILT = "IsHeadTilt";
        private const string IS_HEAD_VERTICAL = "IsHeadVertical";
        private const string CLAMSHELL_DISTANCE = "ClamShellDistance";
        private const string CLAMSHELL_CYLINDER_PRESSURE = "ClamShellCylinderPressure";
        private const string OVERFLOW_LEVEL = "OverFlowLevel";
        private const string CLAMSHELL_CLOSE = "ClamShellClose";
        private const string HEAD_TILT = "HeadTilt";
        private const string CCR_ENABLE = "CCREnable";
        private const string RINSE_ENABLE = "RinseEnable";


        #endregion

        #region 内部变量
        /// 变量是否初始化字典
        /// </summary>
        private Dictionary<string, bool> _variableInitializeDic = new Dictionary<string, bool>();
        /// <summary>
        /// 操作当前状态
        /// </summary>
        protected RState _status;
        /// <summary>
        /// 持久化数据
        /// </summary>
        protected PlatingCellPersistentValue _persistentValue;

        /// <summary>
        /// PlatingCell项
        /// </summary>
        private PlatingCellItem _platingCellItem;
        /// <summary>
        /// overflow
        /// </summary>
        private int _overflowLevelHigh = 85;
        private int _overflowLevelLow = 25;
        /// <summary>
        /// 对应reservoir的名字
        /// </summary>
        private string _reservoirName;
        /// <summary>
        /// PowerSupplier
        /// </summary>
        protected CellPowerSupplier _powerSupplier;
        /// <summary>
        /// vertical电机
        /// </summary>
        private JetAxisBase _verticalAxis;
        /// <summary>
        /// vertical电机
        /// </summary>
        private JetAxisBase _rotationAxis;
        /// <summary>
        /// CCR当前执行步骤
        /// </summary>
        private string _currentCCRStep = "";
        /// <summary>
        /// CCR当前剩余时间
        /// </summary>
        private double _timeRemain;
        #endregion

        #region 属性
        /// <summary>
        /// 状态
        /// </summary>
        public RState Status { get { return _status; } }
        /// <summary>
        /// 是否禁用
        /// </summary>
        public bool IsDisable { get { return _persistentValue == null || _persistentValue.OperatingMode == DISABLED; } }
       
        /// <summary>
        /// 操作模式
        /// </summary>
        public string OperationMode { get { return _persistentValue.OperatingMode; } }
        /// <summary>
        /// 工程模式
        /// </summary>
        public string EngineerMode { get { return _persistentValue.RecipeOperatingMode; } }
        /// <summary>
        /// 是否为Auto
        /// </summary>
        public bool IsAuto { get { return _persistentValue != null ? _persistentValue.OperatingMode == AUTO : false; } }
        /// <summary>
        /// 是否为Auto
        /// </summary>
        public bool IsManual { get { return _persistentValue != null ? _persistentValue.OperatingMode == MANUAL : false; } }
        /// <summary>
        /// A面PowerSupplier
        /// </summary>
        public CellPowerSupplier PowerSupplier { get { return _powerSupplier; } }
        #endregion

        #region 共享变量
        /// <summary>
        /// 数据
        /// </summary>
        protected PlatingCellData _platingCellData = new PlatingCellData();
        /// <summary>
        /// 对应reservoir数据
        /// </summary>
        protected ReservoirData _reservoirData = new ReservoirData();

        #endregion

        #region 属性
        /// <summary>
        /// 设备数据
        /// </summary>
        public PlatingCellData PlatingCellDeviceData { get { return _platingCellData; } }
  
        #endregion


        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="moduleName"></param>
        public PlatingCellDevice(string moduleName) : base(moduleName, moduleName, moduleName, moduleName)
        {
            
        }
        /// <summary>
        /// 初始化
        /// </summary>
        /// <returns></returns>
        public virtual bool Initialize()
        {
            InitializeParameter();
            SubscribeData();
            InitializeOperation();
            SubscribeValueAction();
            return true;
        }
        /// <summary>
        /// 定时器执行
        /// </summary>
        public bool OnTimer(int interval)
        {
            if (_verticalAxis != null)
            {
                _verticalAxis.OnTimer();
            }
            if (_rotationAxis != null) 
            { 
                _rotationAxis.OnTimer();
            }
            return true;
        }

        /// <summary>
        /// 初始化参数
        /// </summary>
        private void InitializeParameter()
        {
            _persistentValue = PlatingCellPersistentManager.Instance.GetPlatingCellPersistentValue(Module);
            if (_persistentValue == null)
            {
                LOG.WriteLog(eEvent.ERR_RESERVOIR, Module, "Persistent Value Object is not exist");
            }
            _platingCellItem = PlatingCellItemManager.Instance.GetPlatingCellItem(Module);
            if (_platingCellItem != null)
            {

            }
            _platingCellItem = PlatingCellItemManager.Instance.GetPlatingCellItem(Module);
            if (_platingCellItem != null)
            {
                _powerSupplier = DEVICE.GetDevice<CellPowerSupplier>(_platingCellItem.PlatingPowerSupplyID);
            }
            _overflowLevelHigh = SC.GetValue<int>($"PlatingCell.OverflowLevelHigh");
            _overflowLevelLow = SC.GetValue<int>($"PlatingCell.OverflowLevelLow");

            _reservoirData = GetReservoirDevice().ReservoirData;
            _reservoirName = GetReservoirDevice().Module;
            if("PlatingCell1".Equals(Module) || "PlatingCell2".Equals(Module))
            {
                _verticalAxis = DEVICE.GetDevice<JetAxisBase>("PlatingCell1_2.Vertical");
            }
            else
            {
                _verticalAxis = DEVICE.GetDevice<JetAxisBase>("PlatingCell3_4.Vertical");
            }
            _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Rotation");
        }
        protected virtual void SubscribeValueAction()
        {
            IoSubscribeUpdateVariable(IS_HEAD_TILT);
            IoSubscribeUpdateVariable(IS_HEAD_VERTICAL);
            IoSubscribeUpdateVariable(CLAMSHELL_DISTANCE);
            IoSubscribeUpdateVariable(CLAMSHELL_CYLINDER_PRESSURE);
            IoSubscribeUpdateVariable(OVERFLOW_LEVEL);
            IoSubscribeUpdateVariable(CLAMSHELL_CLOSE);
            IoSubscribeUpdateVariable(HEAD_TILT);
            IoSubscribeUpdateVariable(CCR_ENABLE);
            IoSubscribeUpdateVariable(RINSE_ENABLE);
   
        }

        /// <summary>
        /// 订阅IO变量
        /// </summary>
        /// <param name="variable"></param>
        protected void IoSubscribeUpdateVariable(string variable)
        {
            _variableInitializeDic[variable] = false;
            IOModuleManager.Instance.SubscribeModuleVariable(Module, variable, UpdateVariableValue);
        }
        /// <summary>
        /// 更新变量数值
        /// </summary>
        /// <param name="variable"></param>
        /// <param name="value"></param>
        private void UpdateVariableValue(string variable, object value)
        {
            if (!_platingCellData.IsDataInitialized)
            {
                _platingCellData.IsDataInitialized = true;
            }
            PropertyInfo property = _platingCellData.GetType().GetProperty(variable);
            if (property != null)
            {
                property.SetValue(_platingCellData, value);
                if (variable == OVERFLOW_LEVEL)
                {
                    double waterLevel = CurrentToWaterLevel(Convert.ToDouble(value));
                    _platingCellData.OverFlowLevel = waterLevel;
                    if (_platingCellData.OverFlowLevel >= _overflowLevelHigh)
                    {
                        _platingCellData.OverFlowStatus = "High";
                    }
                    else if(_platingCellData.OverFlowLevel <= _overflowLevelLow)
                    {
                        _platingCellData.OverFlowStatus = "Empty";
                    }
                    else
                    {
                        _platingCellData.OverFlowStatus = "Full";
                    } 
                }
            }
            if (_variableInitializeDic.ContainsKey(variable) && !_variableInitializeDic[variable])
            {
                _variableInitializeDic[variable] = true;
            }
        }
        /// <summary>
        /// 把电流mA转成水深mm
        /// </summary>
        /// <param name="current"></param>
        private double CurrentToWaterLevel(double current)
        {
            double result = (current - 4) / 8 / 9.8 * 1000;
            return result;
        }
        /// <summary>
        /// 写变量
        /// </summary>
        /// <param name="variable"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        protected bool WriteVariableValue(string variable, object value)
        {
            string ioName = BeckhoffModuleIOManager.Instance.GetIoNameByInnerModuleName($"{Module}.{variable}");
            return IOModuleManager.Instance.WriteIoValue(ioName, value);
        }
        /// <summary>
        /// 订阅数据
        /// </summary>
        private void SubscribeData()
        {
            DATA.Subscribe($"{Module}.{PERSISTENT_VALUE}", () => _persistentValue, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.{PLATINGCELLDATA}", () => _platingCellData, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.ReservoirCommonData", () => _reservoirData, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.ReservoirName", () => _reservoirName, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.CurrentCCRStep", () => _currentCCRStep, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.CurrentCCRTimeRemain", () => _timeRemain, SubscriptionAttribute.FLAG.IgnoreSaveDB);

            DATA.Subscribe($"{Module}.PowerSupplierData", () => _powerSupplier.PowerSupplierData, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.PowerSupplier.ID", () => _powerSupplier.Module, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.PowerSupplier.IsConnected", () => _powerSupplier.IsConnected, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.PowerSupplier.Voltage", () => _powerSupplier.PowerSupplierData.Voltage, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.PowerSupplier.Current", () => _powerSupplier.PowerSupplierData.Current, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.PowerSupplier.SetPoint", () => _powerSupplier.PowerSupplierData.SetPoint, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.PowerSupplier.RunModel", () => _powerSupplier.PowerSupplierData.PowerRunModelContent, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.PowerSupplier.PowerControl", () => _powerSupplier.PowerSupplierData.PowerControlContent, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.PowerSupplier.PowerStatus", () => _powerSupplier.PowerSupplierData.PowerStatusContent, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.PowerSupplier.Enable", () => _powerSupplier.PowerSupplierData.Enabled, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.PowerSupplier.PowerGrade", () => _powerSupplier.PowerSupplierData.PowerGradeContent, SubscriptionAttribute.FLAG.IgnoreSaveDB);


        }
        /// <summary>
        /// 初始化操作
        /// </summary>
        protected virtual void InitializeOperation()
        {
            OP.Subscribe($"{Module}.DisabledAction", DisabledOperation);
            OP.Subscribe($"{Module}.ManualAction", ManualOperation);
            OP.Subscribe($"{Module}.AutoAction", AutoOperation);
            OP.Subscribe($"{Module}.EngineeringModeAction", EngineeringModeOperation);
            OP.Subscribe($"{Module}.ProductionModeAction", ProductionModeOperation);
            OP.Subscribe($"{Module}.SetPlatingCellWaferSize", (cmd, args) => { return SetPlatingCellWaferSize(cmd, args); });
            
            OP.Subscribe($"{Module}.ClamShellClose", (cmd, para) => { return ClamShellClose(); });
            OP.Subscribe($"{Module}.ClamShellOpen", (cmd, para) => { return ClamShellOpen(); });
            OP.Subscribe($"{Module}.HeadtTilt", (cmd, para) => { return HeadtTiltAction(); });
            OP.Subscribe($"{Module}.HeadVertical", (cmd, para) => { return HeadtVerticalAction(); });
            OP.Subscribe($"{Module}.CCREnable", (cmd, para) => { return CCREnableAction(); });
            OP.Subscribe($"{Module}.CCRDisable", (cmd, para) => { return CCRDisableAction(); });
            OP.Subscribe($"{Module}.RinseEnable", (cmd, para) => { return RinseEnableAction(); });
            OP.Subscribe($"{Module}.RinseDisable", (cmd, para) => { return RinseDisableAction(); });

            OP.Subscribe($"{Module}.StartRotation", StartRotationAction);
            OP.Subscribe($"{Module}.StopRotation", StopRotationAction);


        }
        #region Operation
        private bool StartRotationAction(string cmd, object[] args)
        {
            if (args.Length < 2 && (int)args[0] < 0 && (int)args[1] < 0)
            {
                LOG.WriteLog(eEvent.ERR_VPW, Module, $"Start rotation paramater is wrong");
                return false;
            }
            double targetPostion = (int)args[0] * 6 * (int)args[1];
            object[] param = new object[] { "", targetPostion };
            int degSpeed = (int)args[0] * 6;
            SetRotationSpeed(degSpeed);
     

            double AfterChangetargetPostion = (int)args[0] * 6 * (int)args[1];
            return RotationProfilePosition(AfterChangetargetPostion);

        }

        private bool StopRotationAction(string cmd, object[] args)
        {
            return _rotationAxis.StopPositionOperation();
        }
        public bool ClamShellClose()
        {
            return WriteVariableValue(CLAMSHELL_CLOSE, true);
        }
        public bool ClamShellOpen()
        {
            return WriteVariableValue(CLAMSHELL_CLOSE, false);
        }
        public bool HeadtTiltAction()
        {
            return WriteVariableValue(HEAD_TILT, true);
        }
        public bool HeadtVerticalAction()
        {
            return WriteVariableValue(HEAD_TILT, false);
        }
        public bool CCREnableAction()
        {
            return WriteVariableValue(CCR_ENABLE, true);
        }
        public bool CCRDisableAction()
        {
            return WriteVariableValue(CCR_ENABLE, false);
        }
        public bool RinseEnableAction()
        {
            return WriteVariableValue(RINSE_ENABLE, true);
        }
        public bool RinseDisableAction()
        {
            return WriteVariableValue(RINSE_ENABLE, false);
        }
        /// <summary>
        /// DisabledAction
        /// </summary>
        /// <param name="cmd"></param>
        /// <param name="param"></param>
        /// <returns></returns>
        public bool DisabledOperation(string cmd, object[] args)
        {
            string currentOperation = "Disabled";
            PlatingCellEntity platingCellEntity = Singleton<RouteManager>.Instance.GetModule<PlatingCellEntity>(Module);
            if (platingCellEntity != null && _persistentValue != null && _persistentValue.OperatingMode != currentOperation)
            {
                string preOperation = _persistentValue.OperatingMode;
                if (platingCellEntity.IsBusy)
                {
                    LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, $"{Module} is Busy, can't switch to Disabled mode");
                    return false;
                }
                //if (SchedulerMetalTimeManager.Instance.Contained(Module))
                //{
                //    LOG.WriteLog(eEvent.ERR_METAL, Module, $"{Module} is in scheduler, can't switch to Disabled mode");
                //    return false;
                //}
                platingCellEntity.EnterInit();
                _persistentValue.OperatingMode = currentOperation;

                LOG.WriteLog(eEvent.INFO_PLATINGCELL, Module, $"Operating mode is switched from {preOperation} to {currentOperation}");
            }
            PlatingCellPersistentManager.Instance.UpdatePersistentValue(Module);
            return true;
        }
        /// <summary>
        /// ManualAction
        /// </summary>
        /// <param name="cmd"></param>
        /// <param name="param"></param>
        /// <returns></returns>
        public bool ManualOperation(string cmd, object[] args)
        {
            string currentOperation = "Manual";
            PlatingCellEntity platingCellEntity = Singleton<RouteManager>.Instance.GetModule<PlatingCellEntity>(Module);
            if (platingCellEntity != null && _persistentValue != null && _persistentValue.OperatingMode != currentOperation)
            {
                string preOperation = _persistentValue.OperatingMode;
                if (platingCellEntity.IsBusy)
                {
                    LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, $"{Module} is Busy, can't switch to Manual mode");
                    return false;
                }
                //if (SchedulerMetalTimeManager.Instance.Contained(Module))
                //{
                //    LOG.WriteLog(eEvent.ERR_METAL, Module, $"{Module} is in scheduler, can't switch to Manual mode");
                //    return false;
                //}
                platingCellEntity.EnterInit();
                _persistentValue.OperatingMode = currentOperation;

                LOG.WriteLog(eEvent.INFO_PLATINGCELL, Module, $"Operating mode is switched from {preOperation} to {currentOperation}");
            }

            PlatingCellPersistentManager.Instance.UpdatePersistentValue(Module);
            return true;
        }
        /// <summary>
        /// AutoAction
        /// </summary>
        /// <param name="cmd"></param>
        /// <param name="param"></param>
        /// <returns></returns>
        public bool AutoOperation(string cmd, object[] args)
        {
            string currentOperation = "Auto";
            ReservoirEntity reservoirEntity = Singleton<RouteManager>.Instance.GetModule<ReservoirEntity>(_reservoirName);
            if (reservoirEntity!=null  &&  reservoirEntity.PersistentValue.OperatingMode!="Auto")
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, $"{_reservoirName} not in Auto mode, can't switch to Auto mode");
                return false;
            }
            PlatingCellEntity platingCellEntity = Singleton<RouteManager>.Instance.GetModule<PlatingCellEntity>(Module);
         
            if (platingCellEntity != null && _persistentValue != null && _persistentValue.OperatingMode != currentOperation)
            {
                string preOperation = _persistentValue.OperatingMode;
                if (platingCellEntity.IsBusy)
                {
                    LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, $"{Module} is Busy, can't switch to Auto mode");
                    return false;
                }
                platingCellEntity.EnterInit();
                _persistentValue.OperatingMode = currentOperation;

                LOG.WriteLog(eEvent.INFO_PLATINGCELL, Module, $"Operating mode is switched from {preOperation} to {currentOperation}");
            }
            PlatingCellPersistentManager.Instance.UpdatePersistentValue(Module);
            return true;
        }
        /// <summary>
        /// EngineeringModeAction
        /// </summary>
        /// <param name="cmd"></param>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool EngineeringModeOperation(string cmd, object[] args)
        {
            string currentRecipeOperation = "Engineering";
            if (_persistentValue != null)
            {
                _persistentValue.RecipeOperatingMode = currentRecipeOperation;
            }
            PlatingCellPersistentManager.Instance.UpdatePersistentValue(Module);
            return true;
        }
        /// <summary>
        /// ProductionAction
        /// </summary>
        /// <param name="cmd"></param>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool ProductionModeOperation(string cmd, object[] args)
        {
            string currentRecipeOperation = "Production";
            if (_persistentValue != null)
            {
                _persistentValue.RecipeOperatingMode = currentRecipeOperation;
            }
            PlatingCellPersistentManager.Instance.UpdatePersistentValue(Module);
            return true;
        }

        private bool SetPlatingCellWaferSize(string cmd, object[] args)
        {
            string metalWaferSize = args[0] as string;
            if (_persistentValue != null)
            {
                _persistentValue.PlatingCellWaferSize = int.Parse(metalWaferSize);
            }
            PlatingCellPersistentManager.Instance.UpdatePersistentValue(Module);
            return true;
        }

        /// <summary>
        /// 获取Reservoir设备
        /// </summary>
        /// <returns></returns>
        private ReservoirDevice GetReservoirDevice()
        {
            string reservoir = ReservoirItemManager.Instance.GetReservoirByPlatingCell(Module);
            return DEVICE.GetDevice<ReservoirDevice>(reservoir);
        }
        /// <summary>
        /// CCR当前步骤
        /// </summary>
        /// <param name="tmp"></param>
        public void UpdateStatus(string tmp)
        {
            _currentCCRStep = tmp;
        }
        /// <summary>
        /// CCR当前步骤剩余时间
        /// </summary>
        /// <param name="tmp"></param>
        public void UpdateCCRTimeRemain(double timeRemain)
        {
            _timeRemain = timeRemain;
        }
        #endregion

        #region RotationAxis
        /// <summary>
        /// 电机是否上电
        /// </summary>
        /// <returns></returns>
        public bool CheckRotationSwitchOn()
        {
            return _rotationAxis.IsSwitchOn;
        }
        /// <summary>
        /// Home rotation
        /// </summary>
        /// <returns></returns>
        public bool HomeRotation()
        {
            return _rotationAxis.Home();
        }
        /// <summary>
        /// 检验Rotation Home结果
        /// </summary>
        /// <returns></returns>
        public bool CheckHomeEndStatus()
        {
            return CheckRotationEndStatus() && _rotationAxis.IsHomed;
        }
        /// <summary>
        /// 检验Rotation结束状态
        /// </summary>
        /// <returns></returns>
        public bool CheckRotationEndStatus()
        {
            return _rotationAxis.Status == PunkHPX8_Core.RState.End;
        }
        /// <summary>
        /// 检验Rotation失败状态
        /// </summary>
        /// <returns></returns>
        public bool CheckRotationStopStatus()
        {
            return _rotationAxis.Status == PunkHPX8_Core.RState.Failed;
        }
        /// <summary>
        /// 设置速度
        /// </summary>
        /// <param name="speed"></param>
        /// <returns></returns>
        public bool SetRotationSpeed(int speed)
        {
            _rotationAxis.SetProfileSpeed(speed);
            return true;
        }
        /// <summary>
        /// 改变速度
        /// </summary>
        /// <param name="speed"></param>
        /// <returns></returns>
        public bool ChangeRotationSpeed(int speed)
        {
            return _rotationAxis.ChangeSpeed(speed);
        }
        /// <summary>
        /// 电机运动
        /// </summary>
        /// <param name="position"></param>
        /// <returns></returns>
        public bool RotationProfilePosition(double position)
        {
            return _rotationAxis.ProfilePositionOperation(position);
        }
        /// <summary>
        /// 停止运动 
        /// </summary>
        /// <returns></returns>
        public bool StopProfilePosition()
        {
            return _rotationAxis.StopPositionOperation();
        }
        /// <summary>
        /// 是否Rotation运动
        /// </summary>
        /// <returns></returns>
        public bool CheckRotationRunning()
        {
            return _rotationAxis.IsRun;
        }
        #endregion




        public virtual void Monitor()
        {
        }

        public virtual void Reset()
        {
        }

        public virtual void Terminate()
        {
        }
    }
}