LIBMAS/StageController/M3H/M3HAxis.cs

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

namespace StageController
{
    internal class M3HAxis : IMotion
    {
        AxisController m_axisController;

        /// <summary>
        /// 0-999
        /// </summary>
        public int Speed { get; set; }

        public int Step { get; set; }

        /// <summary>
        /// 指令位置:用于补偿实际位置
        /// </summary>
        double Expect { get; set; }

        public double Actual
        {
            get
            {
                if (Reversed)
                    return (double)(-Step * Stepping);
                return (double)(Step * Stepping);
            }
        }

        /// <summary>
        /// 0:停机自由,1:停机锁死,2:正向连续,3:反向连续,4:正向步进,5:反向步进
        /// </summary>
        public int State { get; set; }

        private Border _border;
        public int Limit
        {
            get
            {
                if (Reversed)
                {
                    switch (_border)
                    {
                        case Border.F:
                            return (int)Border.R;
                        case Border.R:
                            return (int)Border.F;
                    }
                }

                return (int)_border;
            }
            set { _border = (Border)value; }
        }

        public M3HAxisType AxisType { get; private set; }

        /// <summary>
        /// 步距
        /// </summary>
        public double Stepping { get; set; }

        public bool Reversed { get; set; }

        public M3HAxis(M3HAxisType type, AxisController axisController)
        {
            m_axisController = axisController;
            AxisType = type;
            if (m_axisController == null)
                throw new ArgumentNullException("AxisController is Null!");
        }

        public void Move(int step, object arg = null)
        {
            if (Reversed) step = -step;
            CommandMoveByStep command = new CommandMoveByStep(AxisType, step, Speed);
            m_axisController.AddCommand(command);
        }

        public void Move(double value, object arg = null)
        {
            if (Reversed) value = -value;
            var step = GetStep(value);
            CommandMoveByStep command = new CommandMoveByStep(AxisType, step, Speed);
            m_axisController.AddCommand(command);
        }

        public void To(double value)
        {
            if (Reversed) value = -value;
            var step = GetStep(value);
            step -= Step;
            CommandMoveByStep command = new CommandMoveByStep(AxisType, step, Speed);
            m_axisController.AddCommand(command);

        }

        private int GetStep(double value)
        {
            var step = (int)(value / Stepping);
            var gap = Expect - Actual;

            if (Math.Abs(gap) > 5 * Stepping)
            {
                Expect = Actual;
            }
            else if (gap > Stepping)
            {
                step++;
            }
            else if (gap < -Stepping)
            {
                step--;
            }
            Expect += value;
            return step;
        }

        public void Stop(object arg)
        {
            HandLock handLock = (HandLock)arg;
            CommandStop command = new CommandStop(AxisType, handLock);
            m_axisController.AddCommand(command);
        }

        public void Slide(bool isPositive, object arg = null)
        {
            if (Reversed) isPositive = !isPositive;
            m_axisController.AddCommand(new CommandMoveBorder(AxisType, isPositive ? Direction.A : Direction.B, Speed));
        }

        public void ResetPosition()
        {
            m_axisController.AddCommand(new CommandResetPosition(AxisType));
        }

    }
}