109 lines
4.1 KiB
C#
109 lines
4.1 KiB
C#
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using MwFramework.Device;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Reflection;
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using System.Text;
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using System.Threading.Tasks;
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namespace MainShell.Recipe.Models
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{
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public class PIDOperater
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{
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public void SendPIDParameters(AxisPIDParameter axisPIDParameter)
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{
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var controller = GetControler();
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foreach (var property in axisPIDParameter.GetType().GetProperties())
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{
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var value = property.GetValue(axisPIDParameter);
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if (value is PIDLabel<double> pIDLabel)
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{
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controller.WriteVariableBuffer(-1, axisPIDParameter.ModuleName + pIDLabel.Name, pIDLabel.Value);
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}
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}
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}
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public AxisPIDParameter ReadPIDParametersFromDevice(string moduleName)
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{
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var controller = GetControler();
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AxisPIDParameter axisPIDParameter = new AxisPIDParameter(moduleName);
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var props = axisPIDParameter.GetType()
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.GetProperties(BindingFlags.Public | BindingFlags.Instance)
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.Where(p => p.CanRead && p.CanWrite);
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foreach (var property in props)
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{
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var value = property.GetValue(axisPIDParameter);
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if (value is PIDLabel<double> pIDLabel)
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{
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controller.ReadVariableBuffer(-1, axisPIDParameter.ModuleName + pIDLabel.Name, out var val);
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if (val == null)
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{
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continue;
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}
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pIDLabel.Value = Convert.ToDouble(val);
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}
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}
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return axisPIDParameter;
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}
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private IMotionController GetControler()
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{
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var hw = IoC.Get<Hardware.HardwareManager>();
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if (hw?.AcsCard?.Controller == null)
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throw new InvalidOperationException("硬件控制器未初始化 (HardwareManager.AcsCard.Controller is null).");
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return hw.AcsCard.Controller;
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}
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public void SendPIDFilteringParameters(AxisFilteringParameter pidFilteringParameter)
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{
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var controller = GetControler();
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foreach (var property in pidFilteringParameter.GetType().GetProperties())
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{
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var value = property.GetValue(pidFilteringParameter);
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if (value is PIDLabel<double> pIDLabel)
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{
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controller.WriteVariableBuffer(-1, pIDLabel.Name, pIDLabel.Value);
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}
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else if (value is PIDLabel<bool> pIDLabelBool)
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{
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var val= pIDLabelBool.Value== true ? 1 : 0;
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controller.WriteVariableBuffer(-1, pIDLabelBool.Name, val);
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}
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}
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}
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public AxisFilteringParameter ReadPIDFilteringParametersFromDevice()
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{
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var controller = GetControler();
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var axisFilteringParameter = new AxisFilteringParameter();
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var props = axisFilteringParameter.GetType()
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.GetProperties(BindingFlags.Public | BindingFlags.Instance)
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.Where(p => p.CanRead && p.CanWrite);
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foreach (var property in props)
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{
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var value = property.GetValue(axisFilteringParameter);
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if (value is PIDLabel<double> pIDLabel)
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{
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controller.ReadVariableBuffer(-1, pIDLabel.Name, out var val);
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if (val == null)
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{
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continue;
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}
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pIDLabel.Value = Convert.ToDouble(val);
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}
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else if (value is PIDLabel<bool> pIDLabelBool)
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{
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controller.ReadVariableBuffer(-1, pIDLabelBool.Name, out var val);
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if (val == null)
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{
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continue;
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}
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pIDLabelBool.Value = Convert.ToInt32(val) != 0;
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}
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}
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return axisFilteringParameter;
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}
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}
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}
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