LIBMAS/StageController/M3H/Command/CommandMoveByStep.cs

using StageController.M3H;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

#if true

namespace StageController
{
    /// <summary>
    /// 4.1 电脑控制电机按步运行指令
    /// </summary>
    public class CommandMoveByStep : CommandBase
    {
        private M3HAxisType m_axis;
        private int m_steps;
        private string m_speed;

        public CommandMoveByStep(M3HAxisType axis, int steps, int speed)
        {
            m_axis = axis;
            m_steps = steps;
            Speed = speed;
        }

        public int Speed
        {
            set
            {
                if (value.ToString().Length > 3)
                {
                    m_speed = "999";
                    return;
                }
                m_speed = "000".Substring(0, 3 - value.ToString().Length) + value;
            }
        }

        public override string Make()
        {
            return buildCmd() + "!";
        }

        public override bool Parse(string response)
        {
            string tmpRes = "@" + Enum.GetName(typeof(M3HAxisType), m_axis) + m_speed;

            if (response.Length == 15 && response.StartsWith(tmpRes))
            {
                return true;
            }

            return false;
        }

        private string buildCmd()
        {
            string mark = "+";
            int tmpStep = m_steps;

            if (m_steps < 0)
            {
                mark = "-";
                tmpStep = -m_steps;
            }

            string stepStr = tmpStep.ToString("D8");

            return "@" + Enum.GetName(typeof(M3HAxisType), m_axis) + m_speed + mark +  stepStr;
        }
    }
}

#else

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace StageController
{
    /// <summary>
    /// 4.1 电脑控制电机按步运行指令
    /// </summary>
    public class CommandMoveByStep : CommandBase
    {
        private Axis m_axis;
        private int m_steps;
        private string m_speed;

        public CommandMoveByStep(Axis axis, int steps)
        {
            m_axis = axis;
            m_steps = steps;
            m_speed = "000";
        }
        public CommandMoveByStep(Axis axis, double steppingAccuracyMicron, double distanceMicron)
        {
            m_axis = axis;
            m_steps = (int)(distanceMicron / steppingAccuracyMicron);
            m_speed = "000";
        }

        public int Steps
        {
            get
            {
                return m_steps;
            }
        }

        public Axis Axis
        {
            get
            {
                return m_axis;
            }
        }

        public int Speed
        {
            set
            {
                if(value.ToString().Length > 3)
                {
                    m_speed = "999";
                    return;
                }
                m_speed = "000".Substring(0, 3 - value.ToString().Length) + value;
            }
        }

        public override string Make()
        {
            return buildCmd() +"WW!";
        }

        public override bool Parse(string response)
        {
            string tmpRes = "@" + Enum.GetName(typeof(Axis), m_axis) + m_speed ;

            if (response.Length==15 && response.StartsWith(tmpRes))
            {
                return true;
            }

            return false;
        }

        private string buildCmd()
        {
            string mark = "+";
            int tmpStep = m_steps;

            if (m_steps < 0)
            {
                mark = "-";
                tmpStep = -m_steps;
            }

            string stepStr = tmpStep.ToString();

            return "@" + Enum.GetName(typeof(Axis), m_axis) + m_speed + mark + "00000000".Substring(0, 8 - stepStr.Length) + stepStr;
        }
    }
}

#endif