Metis_xctg/StageController/AxisShell.cs

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

namespace StageController
{
    class AxisShell
    {
        AxisController m_axisController;

        internal AxisShell(AxisType type, AxisController axisController)
        {
            m_axisController = axisController;
            AxisType = type;
            Speed = 2000;
        }

        /// <summary>
        /// X|Y|Z
        /// </summary>
        public AxisType AxisType { get; set; }

        private int _speed;


        /// <summary>
        /// 脉冲/秒
        /// </summary>
        public int Speed
        {
            get => _speed;
            set
            {
                _speed = value;

            }
        }
        private double _step;
        public double Step { get => _step; set { if (State < 2 || State == 6) _step = value; } }

        //指令位置
        private double _stepCommand { get; set; }

        public double Actual
        {
            get
            {
                return (double)(Step);
            }
        }

        //内用
        //Modify by shayg 20220615 start
        //private int _state;
        private volatile int _state;
        //Modify by shayg 20220615 end

        /// <summary>
        /// 外用
        /// </summary>
        public int State
        {
            get => _state;

            set
            {
                if (_state >= 6 && value < 2)
                {
                    _state = value;
                }
            }
        }

        // Add by shayg 20220615 start
        public int ExcessStep { get; set; }
        // Add by shayg 20220615 end

        public int Limit { get => 0; set { } }
        public void To(double value)
        {
            if (value == _stepCommand) return;
            if (!IsStop) return;
            //new Task(() =>
            //{
            //    _state = 8;
            //    DelayStart();
            _stepCommand = value;
            _state = value > Step ? 2 : 3;
            //}).Start();
        }
        public void Move(int value, object arg = null)
        {
            if (value == 0) return;
            if (!IsStop) return;
            //new Task(() =>
            //{
            //    _state = 8;
            //    DelayStart();
            _stepCommand = Step + value;
            _state = value > 0 ? 2 : 3;
            //}).Start();
        }

        public void Move(double value, object arg = null)
        {
            if (value == 0) return;
            if (!IsStop) return;
            //new Task(() =>
            //{
            //    _state = 8;
            //    DelayStart();
            _stepCommand = Step + value;
            _state = value > 0 ? 2 : 3;
            //}).Start();
        }

        public void ResetPosition()
        {
            _step = 0;
        }

        public void Slide(bool isPositive, object arg = null)
        {
            //new Task(() =>
            //{
            //    _state = 8;
            //    DelayStart();
            _state = isPositive ? 4 : 5;
            //}).Start();
        }

        public void Stop(object arg = null)
        {
            //new Task(() =>
            //{
            //    DelayStart();
            _state = 6;
            //}).Start();
        }

        private void DelayStart(int time = 0)
        {
            if (time == 0)
                Thread.Sleep(CommandDelay);
            else
                Thread.Sleep(time);
        }

        DateTime _time;

        public int CommandDelay = 100;//模拟真实运动的指令延时
        // modify by shayg 20220809 start
        //public bool IsStop => State < 2;
        public bool IsStop => State < 2 && ExcessStep == 0;
        // modify by shayg 20220809 end
        public void Execute()
        {

#if false
            m_axisController.RefreshPosition();
#else
            var span = (DateTime.Now - _time).TotalMilliseconds;
            _time = DateTime.Now;
            double step = span / 1000 * Speed;

            switch (_state)
            {
                case 0: /// 停止
                case 1:
                    _stepCommand = _step;
                    break;
                case 2: /// 正向定位
                    step = _step + step;
                    if (step >= _stepCommand)
                    {
                        _state = 7;
                        step = _stepCommand;
                    }
                    _step = step;
                    break;
                case 3:/// 负向定位
                    step = _step - step;
                    if (step <= _stepCommand)
                    {
                        _state = 7;
                        step = _stepCommand;
                    }
                    _step = step;
                    break;
                case 4:/// 正向连续
                    _step += step;
                    _stepCommand = _step;
                    break;
                case 5:/// 负向连续
                    _step -= step;
                    _stepCommand = _step;
                    break;
                case 6:
                case 7:
                    m_axisController.RefreshPosition();
                    break;
                default:
                    //_state = 0;
                    break;
            }
#endif
        }
    }
}