regulatory_net/Bodk.Device.Storage/Modules/ModuleBase.cs

using Bodk.Device.Storage.Attributes;
using Bodk.Device.Storage.EventArgs;
using Bodk.Extensions.Modbus;

namespace Bodk.Device.Storage.Modules;

public abstract class ModuleBase : IModule
{
    [Ignore]
    public abstract string Name { get; }
    
    [Ignore]
    public abstract string Descirption { get; }
    
    [Ignore]
    public abstract int Id { get; }

    public float? CurrentPosition =>
        CurrentPositionAddress is null ? null : ReadFloat(CurrentPositionAddress.Value).Result;

    public float? ManualSpeed
    {
        get
        {
            if (ManualSpeedAddress is null)
                throw new Exception($"Current module [{Name}] has not [manual speed] property");
            return _manualSpeed ??= ReadFloat(ManualSpeedAddress.Value).Result;
        }
        set
        {
            if (ManualSpeedAddress is null || value is null)
                throw new Exception($"Current module [{Name}] has not [manual speed] property");
            _manualSpeed = value;
            WriteFloat(ManualSpeedAddress.Value, value.Value).Wait();
            _manualSpeed = ReadFloat(ManualSpeedAddress.Value).Result;
        }
    }

    public float? AutoSpeed
    {
        get
        {
            if (AutoSpeedAddress is null)
                throw new Exception($"Current module [{Name}] has not [manual speed] property");
            return _autoSpeed ??= ReadFloat(AutoSpeedAddress.Value).Result;
        }
        set
        {
            if (AutoSpeedAddress is null || value is null)
                throw new Exception($"Current module [{Name}] has not [auto speed] property");
            _autoSpeed = value;
            WriteFloat(AutoSpeedAddress.Value, value.Value).Wait();
            _autoSpeed = ReadFloat(AutoSpeedAddress.Value).Result;
        }
    }

    public float? AccDec
    {
        get
        {
            if (AccDecAddress is null)
                throw new Exception($"Current module [{Name}] has not [acc/dec speed] property");
            return _accDec ??= ReadFloat(AccDecAddress.Value).Result;
        }
        set
        {
            if (AccDecAddress is null || value is null)
                throw new Exception($"Current module [{Name}] has not [acc/dec speed] property");
            _accDec = value;
            WriteFloat(AccDecAddress.Value, value.Value).Wait();
            _accDec = ReadFloat(AccDecAddress.Value).Result;
        }
    }

    public float? GotoOriginHighSpeed
    {
        get
        {
            if (GotoOriginHighSpeedAddress is null)
                throw new Exception($"Current module [{Name}] has not [goto origin high speed] property");
            return _gotoOriginHighSpeed ??= ReadFloat(GotoOriginHighSpeedAddress.Value).Result;
        }
        set
        {
            if (GotoOriginHighSpeedAddress is null || value is null)
                throw new Exception($"Current module [{Name}] has not [goto origin high speed] property");
            _gotoOriginHighSpeed = value;
            WriteFloat(GotoOriginHighSpeedAddress.Value, value.Value).Wait();
            _gotoOriginHighSpeed = ReadFloat(GotoOriginHighSpeedAddress.Value).Result;
        }
    }

    public float? GotoOriginLowSpeed
    {
        get
        {
            if (GotoOriginLowSpeedAddress is null)
                throw new Exception($"Current module [{Name}] has not [goto origin low speed] property");
            return _gotoOriginLowSpeed ??= ReadFloat(GotoOriginLowSpeedAddress.Value).Result;
        }
        set
        {
            if (GotoOriginLowSpeedAddress is null || value is null)
                throw new Exception($"Current module [{Name}] has not [goto origin low speed] property");
            _gotoOriginLowSpeed = value;
            WriteFloat(GotoOriginLowSpeedAddress.Value, value.Value).Wait();
            _gotoOriginLowSpeed = ReadFloat(GotoOriginLowSpeedAddress.Value).Result;
        }
    }

    private float? _manualSpeed;

    private float? _autoSpeed;

    private float? _accDec;

    private float? _gotoOriginHighSpeed;

    private float? _gotoOriginLowSpeed;

    public event EventHandler<MotionTimeoutAlarmChangedEventArg>? MotionTimeoutAlarmEvent;
    public event EventHandler<AlarmChangedEventArg>? AlarmEvent;
    public bool MotionTimeoutAlarm { get; private set; }
    public bool Alarm { get; private set; }
    public bool IsEnabled { get; internal set; }


    private readonly Func<ushort, bool[], Task> _writeCoilRegisterFunc;

    private readonly Func<ushort, ushort, Task<bool[]>> _readCoilRegisterFunc;

    private readonly Func<ushort, ushort, Task<ushort[]>> _readHoldingRegistersFunc;

    private readonly Func<ushort, ushort[], Task> _writeHoldingRegistersFunc;


    public virtual Task EnableAsync(bool enable)
    {
        return EnableAddress is null
            ? Task.FromException(new Exception($"current module [{Name}] does not support [enable] function"))
            : _writeCoilRegisterFunc.Invoke(EnableAddress.Value, new[] { enable });
    }

    public Task ResetAsync()
    {
        return ResetAddress is null
            ? Task.FromException(new Exception($"current module [{Name}] does not support [reset] function"))
            : _writeCoilRegisterFunc.Invoke(ResetAddress.Value, new[] { true });
    }

    public Task CleanAsync()
    {
        return CleanAddress is null
            ? Task.FromException(new Exception($"current module [{Name}] does not support [clean] function"))
            : _writeCoilRegisterFunc.Invoke(CleanAddress.Value, new[] { true });
    }

    public async Task GotoOriginAsync()
    {
        if (GotoOriginAddress is null)
            throw new Exception($"current module [{Name}] does not support [goto origin] function");
        while (!(await _readCoilRegisterFunc.Invoke(OriginFlagAddress.Value, 1))[0])
        {
            await Task.Delay(100);
        }

        if (!(await _readCoilRegisterFunc.Invoke(OriginFlagAddress.Value, 1))[0])
        {
            await _writeCoilRegisterFunc(2, new[] { true });
            throw new Exception($"current module [{Name}] goto origin failed");
        }
    }

    public Task ForwardAsync(bool open)
    {
        return ForwardAddress is null
            ? Task.FromException(new Exception($"current module [{Name}] does not support [forward] function"))
            : _writeCoilRegisterFunc.Invoke(ForwardAddress.Value, new[] { open });
    }

    public Task BackwardAsync(bool open)
    {
        return BackwardAddress is null
            ? Task.FromException(new Exception($"current module [{Name}] does not support [backward] function"))
            : _writeCoilRegisterFunc.Invoke(BackwardAddress.Value, new[] { open });
    }

    public async Task RelativeMoveAsync(float destination)
    {
        if (MoveDistanceAddress is null)
            throw new Exception($"current module [{Name}] does not support [relative move] function");
        await WriteFloat(MoveDistanceAddress.Value, destination);
        if (RelativeMoveAddress is null)
            throw new Exception($"current module [{Name}] does not support [relative move] function");
        await _writeCoilRegisterFunc.Invoke(RelativeMoveAddress.Value, new[] { true });
    }

    public async Task AbsoluteMoveAsync(float destination)
    {
        if (MoveDistanceAddress is null)
            throw new Exception($"current module [{Name}] does not support [absolute move] function");
        await WriteFloat(MoveDistanceAddress.Value, destination);
        if (AbsoluteMoveAddress is null)
            throw new Exception($"current module [{Name}] does not support [absolute move] function");
        await _writeCoilRegisterFunc.Invoke(AbsoluteMoveAddress.Value, new[] { true });
    }


    protected ModuleBase(Action<object?, AlarmChangedEventArg> alarmEventHandler,
        Action<object?, MotionTimeoutAlarmChangedEventArg> motionTimeoutAlarmEventHandler,
        Func<ushort, bool[], Task> writeCoilRegisterFunc, Func<ushort, ushort, Task<bool[]>> readCoilRegisterFunc,
        Func<ushort, ushort, Task<ushort[]>> readHoldingRegistersFunc,
        Func<ushort, ushort[], Task> writeHoldingRegistersFunc)
    {
        _writeCoilRegisterFunc = writeCoilRegisterFunc;
        _readCoilRegisterFunc = readCoilRegisterFunc;
        _readHoldingRegistersFunc = readHoldingRegistersFunc;
        _writeHoldingRegistersFunc = writeHoldingRegistersFunc;
        MotionTimeoutAlarmEvent += (sender, e) => motionTimeoutAlarmEventHandler(sender, e);
        AlarmEvent += (sender, e) => alarmEventHandler(sender, e);
    }


    internal Task WriteFloat(ushort address, float value)
    {
        var shorts = value.ConvertToUShort();
        return _writeHoldingRegistersFunc.Invoke(address, shorts);
    }

    internal async Task<float> ReadFloat(ushort address)
    {
        var shorts = await _readHoldingRegistersFunc.Invoke(address, 2);
        var value = shorts.ConvertToFloat();
        return value[0];
    }

    internal void OnMotionTimeoutAlarmChanged(MotionTimeoutAlarmChangedEventArg e)
    {
        MotionTimeoutAlarm = e.Status;
        MotionTimeoutAlarmEvent?.Invoke(this, e);
    }

    internal void OnAlarmChanged(AlarmChangedEventArg e)
    {
        Alarm = e.Status;
        AlarmEvent?.Invoke(this, e);
    }

    internal virtual ushort? MotionTimeoutAlarmAddress => null;
    internal virtual ushort? AlarmAddress => null;

    internal virtual ushort? IsEnabledAddress => null;

    internal virtual ushort? EnableAddress => null;

    internal virtual ushort? ResetAddress => null;

    internal virtual ushort? CleanAddress => null;

    internal virtual ushort? GotoOriginAddress => null;

    internal virtual ushort? OriginFlagAddress => null;

    internal virtual ushort? ForwardAddress => null;

    internal virtual ushort? BackwardAddress => null;

    internal virtual ushort? AbsoluteMoveAddress => null;

    internal virtual ushort? RelativeMoveAddress => null;

    internal virtual ushort? MoveDistanceAddress => null;

    internal virtual ushort? CurrentPositionAddress => null;

    internal virtual ushort? ManualSpeedAddress => null;

    internal virtual ushort? AutoSpeedAddress => null;

    internal virtual ushort? AccDecAddress => null;

    internal virtual ushort? GotoOriginHighSpeedAddress => null;

    internal virtual ushort? GotoOriginLowSpeedAddress => null;

    internal ModuleDescription GetDescription()
    {
        return new ModuleDescription
        {
            Name = Name,
            Id = Id,
            Description = Descirption
        };
    }
}