添加 MX-PD-盘古 项目文件
将 MX-PD-盘古 - new 目录下的所有文件添加到主仓库
This commit is contained in:
Shi.Ji
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using MaxwellFramework.Core.Attributes;
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using MainShell.Hardware;
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using MwFramework.Device;
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using System;
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namespace MainShell.Hardware.Acs
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{
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public interface IAcsAddressAccessService
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{
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bool IsReady { get; }
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object Read(AcsAddressDefinition addressDefinition);
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object Read(AcsAddressDefinition addressDefinition, int index1, int index2);
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object ReadRange(AcsAddressDefinition addressDefinition, int from1, int to1, int from2, int to2);
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T Read<T>(AcsAddressDefinition addressDefinition);
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bool Write(AcsAddressDefinition addressDefinition, object value);
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bool Write(AcsAddressDefinition addressDefinition, object value, int index1, int index2);
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bool WriteRange(AcsAddressDefinition addressDefinition, object value, int from1, int to1, int from2, int to2);
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}
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[Singleton]
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public sealed class AcsAddressAccessService : IAcsAddressAccessService
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{
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private const int DefaultBufferId = -1;
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private readonly HardwareManager _hardwareManager;
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public AcsAddressAccessService(HardwareManager hardwareManager)
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{
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_hardwareManager = hardwareManager ?? throw new ArgumentNullException(nameof(hardwareManager));
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}
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public bool IsReady
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{
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get
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{
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return _hardwareManager.AcsCard != null
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&& _hardwareManager.AcsCard.Controller != null
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&& _hardwareManager.AcsCard.IsOpen;
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}
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}
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public object Read(AcsAddressDefinition addressDefinition)
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{
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AcsAddressDefinition validatedAddress = ValidateAddress(addressDefinition);
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IMotionController controller = GetController();
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string variableName = ResolveVariableName(validatedAddress);
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bool result= controller.ReadVariableBuffer(DefaultBufferId, variableName,out object val);
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if (!result)
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{
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throw CreateReadWriteException("Read", validatedAddress);
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}
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return val;
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}
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public object Read(AcsAddressDefinition addressDefinition, int index1, int index2)
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{
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AcsAddressDefinition validatedAddress = ValidateAddress(addressDefinition);
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ValidateIndex(index1, nameof(index1));
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ValidateIndex(index2, nameof(index2));
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IMotionController controller = GetController();
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string variableName = ResolveVariableName(validatedAddress);
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bool result = controller.ReadVariableBuffer(DefaultBufferId, variableName, out object val, index1, index2);
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if (!result)
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{
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throw CreateReadWriteException("Read", validatedAddress);
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}
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return val;
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}
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public object ReadRange(AcsAddressDefinition addressDefinition, int from1, int to1, int from2, int to2)
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{
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AcsAddressDefinition validatedAddress = ValidateAddress(addressDefinition);
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ValidateRange(from1, to1, nameof(from1), nameof(to1));
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ValidateRange(from2, to2, nameof(from2), nameof(to2));
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IMotionController controller = GetController();
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string variableName = ResolveVariableName(validatedAddress);
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object value;
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bool result = controller.ReadVariableBuffer(DefaultBufferId, variableName, out value, from1, to1, from2, to2);
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if (!result)
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{
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throw CreateReadWriteException("Read", validatedAddress);
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}
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return value;
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}
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public T Read<T>(AcsAddressDefinition addressDefinition)
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{
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AcsAddressDefinition validatedAddress = ValidateAddress(addressDefinition);
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ValidateTypeCompatibility(validatedAddress, typeof(T));
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object value = Read(validatedAddress);
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return ConvertValue<T>(value, validatedAddress);
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}
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public bool Write(AcsAddressDefinition addressDefinition, object value)
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{
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AcsAddressDefinition validatedAddress = ValidateAddress(addressDefinition);
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ValidateWriteValue(validatedAddress, value);
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IMotionController controller = GetController();
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string variableName = ResolveVariableName(validatedAddress);
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bool result = controller.WriteVariableBuffer(DefaultBufferId, variableName, value);
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if (!result)
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{
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throw CreateReadWriteException("Write", validatedAddress);
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}
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return true;
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}
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public bool Write(AcsAddressDefinition addressDefinition, object value, int index1, int index2)
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{
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AcsAddressDefinition validatedAddress = ValidateAddress(addressDefinition);
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ValidateWriteValue(validatedAddress, value);
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ValidateIndex(index1, nameof(index1));
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ValidateIndex(index2, nameof(index2));
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IMotionController controller = GetController();
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string variableName = ResolveVariableName(validatedAddress);
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bool result = controller.WriteVariableBuffer(DefaultBufferId, variableName, value, index1, index2);
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if (!result)
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{
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throw CreateReadWriteException("Write", validatedAddress);
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}
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return true;
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}
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public bool WriteRange(AcsAddressDefinition addressDefinition, object value, int from1, int to1, int from2, int to2)
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{
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AcsAddressDefinition validatedAddress = ValidateAddress(addressDefinition);
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ValidateWriteValue(validatedAddress, value);
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ValidateRange(from1, to1, nameof(from1), nameof(to1));
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ValidateRange(from2, to2, nameof(from2), nameof(to2));
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IMotionController controller = GetController();
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string variableName = ResolveVariableName(validatedAddress);
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bool result = controller.WriteVariableBuffer(DefaultBufferId, variableName, value, from1, to1, from2, to2);
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if (!result)
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{
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throw CreateReadWriteException("Write", validatedAddress);
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}
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return true;
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}
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private IMotionController GetController()
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{
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if (!IsReady)
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{
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throw new InvalidOperationException("ACS controller is not ready. Ensure AcsCard is initialized and opened.");
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}
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return _hardwareManager.AcsCard.Controller;
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}
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private static AcsAddressDefinition ValidateAddress(AcsAddressDefinition addressDefinition)
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{
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if (addressDefinition == null)
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{
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throw new ArgumentNullException(nameof(addressDefinition));
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}
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if (!addressDefinition.HasNumericAddress && !addressDefinition.HasSymbolicAddress)
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{
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throw new ArgumentException("ACS address definition does not contain a usable address.", nameof(addressDefinition));
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}
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return addressDefinition;
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}
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private static string ResolveVariableName(AcsAddressDefinition addressDefinition)
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{
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if (addressDefinition.HasSymbolicAddress)
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{
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return addressDefinition.SymbolicAddress;
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}
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return addressDefinition.Address.Value.ToString();
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}
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private static void ValidateTypeCompatibility(AcsAddressDefinition addressDefinition, Type targetType)
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{
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if (targetType == null)
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{
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throw new ArgumentNullException(nameof(targetType));
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}
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Type nonNullableTargetType = Nullable.GetUnderlyingType(targetType) ?? targetType;
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if (nonNullableTargetType == typeof(object))
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{
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return;
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}
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if (addressDefinition.DataType == nonNullableTargetType)
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{
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return;
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}
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if (addressDefinition.IsInteger && IsIntegerType(nonNullableTargetType))
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{
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return;
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}
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if (addressDefinition.IsFloatingPoint && IsFloatingPointType(nonNullableTargetType))
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{
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return;
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}
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throw new InvalidOperationException($"Address {addressDefinition.Name} is defined as {addressDefinition.DataType.Name} and cannot be read as {nonNullableTargetType.Name}.");
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}
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private static T ConvertValue<T>(object value, AcsAddressDefinition addressDefinition)
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{
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if (value == null)
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{
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return default(T);
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}
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if (value is T typedValue)
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{
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return typedValue;
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}
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Type targetType = Nullable.GetUnderlyingType(typeof(T)) ?? typeof(T);
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try
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{
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if (targetType == typeof(bool))
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{
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return (T)(object)ConvertToBoolean(value);
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}
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object convertedValue = Convert.ChangeType(value, targetType);
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return (T)convertedValue;
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}
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catch (Exception ex)
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{
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throw new InvalidCastException($"The value of address {addressDefinition.Name} cannot be converted to {targetType.Name}.", ex);
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}
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}
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private static bool ConvertToBoolean(object value)
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{
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if (value is bool boolValue)
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{
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return boolValue;
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}
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if (value is string stringValue)
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{
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if (string.Equals(stringValue, "1", StringComparison.OrdinalIgnoreCase))
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{
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return true;
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}
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if (string.Equals(stringValue, "0", StringComparison.OrdinalIgnoreCase))
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{
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return false;
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}
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}
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return Convert.ToDouble(value) != 0d;
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}
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private static void ValidateWriteValue(AcsAddressDefinition addressDefinition, object value)
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{
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if (value == null)
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{
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throw new ArgumentNullException(nameof(value));
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}
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if (addressDefinition.Length > 1)
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{
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return;
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}
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Type valueType = value.GetType();
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if (addressDefinition.DataType.IsAssignableFrom(valueType))
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{
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return;
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}
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if (addressDefinition.IsBoolean && IsBooleanCompatibleType(valueType))
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{
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return;
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}
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if (addressDefinition.IsInteger && IsIntegerType(valueType))
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{
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return;
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}
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if (addressDefinition.IsFloatingPoint && (IsFloatingPointType(valueType) || IsIntegerType(valueType)))
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{
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return;
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}
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throw new InvalidOperationException($"Address {addressDefinition.Name} is defined as {addressDefinition.DataType.Name}, but the current value type is {valueType.Name}.");
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}
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private static bool IsBooleanCompatibleType(Type type)
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{
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return type == typeof(bool) || IsIntegerType(type);
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}
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private static bool IsIntegerType(Type type)
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{
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return type == typeof(byte)
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|| type == typeof(sbyte)
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|| type == typeof(short)
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|| type == typeof(ushort)
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|| type == typeof(int)
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|| type == typeof(uint)
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|| type == typeof(long)
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|| type == typeof(ulong);
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}
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private static bool IsFloatingPointType(Type type)
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{
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return type == typeof(float)
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|| type == typeof(double)
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|| type == typeof(decimal);
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}
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private static void ValidateIndex(int index, string parameterName)
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{
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if (index < 0)
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{
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throw new ArgumentOutOfRangeException(parameterName, index, "ACS index cannot be less than 0.");
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}
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}
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private static void ValidateRange(int from, int to, string fromName, string toName)
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{
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ValidateIndex(from, fromName);
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ValidateIndex(to, toName);
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if (to < from)
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{
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throw new ArgumentException($"Parameter {toName} cannot be less than {fromName}.", toName);
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}
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}
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private static Exception CreateReadWriteException(string operationName, AcsAddressDefinition addressDefinition)
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{
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string addressText = addressDefinition.HasSymbolicAddress
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? addressDefinition.SymbolicAddress
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: addressDefinition.Address.Value.ToString();
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return new InvalidOperationException($"{operationName} ACS address failed: {addressDefinition.Name}, address={addressText}.");
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}
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}
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}
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