regulatory_net/Bodk.Device.Storage/Modules/GantryY.cs

using Bodk.Device.Storage.EventArgs;

namespace Bodk.Device.Storage.Modules;

public class GantryY(
    Action<object?, AlarmChangedEventArg> alarmEventHandler,
    Action<object?, MotionTimeoutAlarmChangedEventArg> motionTimeoutAlarmEventHandler,
    Func<ushort, bool[], Task> writeCoilRegisterFunc,
    Func<ushort, ushort, Task<bool[]>> readCoilRegisterFunc,
    Func<ushort, ushort, Task<ushort[]>> readHoldingRegistersFunc,
    Func<ushort, ushort[], Task> writeHoldingRegistersFunc)
    : ModuleBase(alarmEventHandler, motionTimeoutAlarmEventHandler, writeCoilRegisterFunc, readCoilRegisterFunc,
        readHoldingRegistersFunc, writeHoldingRegistersFunc)
{
    public override string Name => "GantryY";
    public override string Descirption => "龙门Y轴";
    public override int Id => 4;


    internal override ushort? EnableAddress => 103;

    internal override ushort? ResetAddress => 123;

    internal override ushort? CleanAddress => 143;

    internal override ushort? GotoOriginAddress => 163;

    internal override ushort? ForwardAddress => 183;

    internal override ushort? BackwardAddress => 203;

    internal override ushort? RelativeMoveAddress => 223;

    internal override ushort? AbsoluteMoveAddress => 243;

    internal override ushort? MotionTimeoutAlarmAddress => 283;

    internal override ushort? AlarmAddress => 303;

    internal override ushort? IsEnabledAddress => 333;

    internal override ushort? OriginFlagAddress => 353;

    internal override ushort? MoveDistanceAddress => 106;

    internal override ushort? CurrentPositionAddress => 130;

    internal override ushort? ManualSpeedAddress => 1006;

    internal override ushort? AutoSpeedAddress => 1046;

    internal override ushort? AccDecAddress => 1086;

    internal override ushort? GotoOriginHighSpeedAddress => 1126;

    internal override ushort? GotoOriginLowSpeedAddress => 1150;

    internal ushort StandbyAddress => 1378;

    internal ushort GraspFoamLidAddress => 1380;

    internal ushort PlaceFoamLidAddress => 1382;

    internal ushort BipolarModuleAAddress => 1384;

    internal ushort BipolarModuleBAddress => 1386;

    internal ushort BipolarModuleCAddress => 1388;

    internal ushort UnipolarModuleAAddress => 1390;

    internal ushort UnipolarModuleBAddress => 1392;

    internal ushort UnipolarModuleCAddress => 1394;

    /// <summary>
    /// 移动到待机位
    /// </summary>
    public async Task MoveToStandbyPositionAsync()
    {
        await AbsoluteMoveAsync(await ReadFloat(StandbyAddress));
    }

    /// <summary>
    /// 移动到抓取泡沫盖位
    /// </summary>
    public async Task MoveToGraspFoamLidPositionAsync()
    {
        await AbsoluteMoveAsync(await ReadFloat(GraspFoamLidAddress));
    }

    /// <summary>
    /// 移动到放泡沫盖位
    /// </summary>
    public async Task MoveToPlaceFoamLidPositionAsync()
    {
        await AbsoluteMoveAsync(await ReadFloat(PlaceFoamLidAddress));
    }

    /// <summary>
    /// 移动到双极模组A位
    /// </summary>
    public async Task MoveToBipolarModuleAPositionAsync()
    {
        await AbsoluteMoveAsync(await ReadFloat(BipolarModuleAAddress));
    }

    /// <summary>
    /// 移动到双极模组B位
    /// </summary>
    public async Task MoveToBipolarModuleBPositionAsync()
    {
        await AbsoluteMoveAsync(await ReadFloat(BipolarModuleBAddress));
    }

    /// <summary>
    /// 移动到双极模组C位
    /// </summary>
    public async Task MoveToBipolarModuleCPositionAsync()
    {
        await AbsoluteMoveAsync(await ReadFloat(BipolarModuleCAddress));
    }

    /// <summary>
    /// 移动到单极模组A位
    /// </summary>
    public async Task MoveToUnipolarModuleAPositionAsync()
    {
        await AbsoluteMoveAsync(await ReadFloat(UnipolarModuleAAddress));
    }

    /// <summary>
    /// 移动到单极模组B位
    /// </summary>
    public async Task MoveToUnipolarModuleBPositionAsync()
    {
        await AbsoluteMoveAsync(await ReadFloat(UnipolarModuleBAddress));
    }

    /// <summary>
    /// 移动到单极模组C位
    /// </summary>
    public async Task MoveToUnipolarModuleCPositionAsync()
    {
        await AbsoluteMoveAsync(await ReadFloat(UnipolarModuleCAddress));
    }

    /// <summary>
    /// 待机位
    /// </summary>
    public float StandbyPosition
    {
        get
        {
            _standbyPosition ??= ReadFloat(StandbyAddress).Result;
            return _standbyPosition.Value;
        }
        set
        {
            _standbyPosition = value;
            WriteFloat(StandbyAddress, value);
        }
    }

    private float? _standbyPosition;
}