regulatory_net/Bodk.Device.Storage/Modules/CryogenicRackGripper1.cs

using Bodk.Device.Storage.EventArgs;

namespace Bodk.Device.Storage.Modules;

public class CryogenicRackGripper1(
    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)
    : ModuleBase(alarmEventHandler, motionTimeoutAlarmEventHandler, writeCoilRegisterFunc, readCoilRegisterFunc,
        readHoldingRegistersFunc, writeHoldingRegistersFunc)
{
    public override string Name => "CryogenicRackGripper1";
    public override string Descirption => "冻存架夹爪1";
    public override int Id => 2;

    internal override ushort? EnableAddress => 101;

    internal override ushort? ResetAddress => 121;

    internal override ushort? CleanAddress => 141;

    internal override ushort? GotoOriginAddress => 161;

    internal override ushort? ForwardAddress => 181;

    internal override ushort? BackwardAddress => 201;

    internal override ushort? RelativeMoveAddress => 221;

    internal override ushort? AbsoluteMoveAddress => 241;

    internal override ushort? MotionTimeoutAlarmAddress => 281;

    internal override ushort? AlarmAddress => 301;

    internal override ushort? IsEnabledAddress => 331;

    internal override ushort? OriginFlagAddress => 351;

    internal override ushort? MoveDistanceAddress => 102;

    internal override ushort? CurrentPositionAddress => 126;

    internal override ushort? ManualSpeedAddress => 1002;

    internal override ushort? AutoSpeedAddress => 1042;

    internal override ushort? AccDecAddress => 1082;

    internal override ushort? GotoOriginHighSpeedAddress => 1122;

    internal override ushort? GotoOriginLowSpeedAddress => 1146;

    internal ushort ReleasePositionAddress => 1370;

    internal ushort HoldingPositionAddress => 1372;

    /// <summary>
    /// 松开夹爪
    /// </summary>
    /// <returns></returns>
    public async Task Release()
    {
        var des = await ReadFloat(ReleasePositionAddress);
        await AbsoluteMoveAsync(des);
    }

    public async Task Holding()
    {
        var des = await ReadFloat(HoldingPositionAddress);
        await AbsoluteMoveAsync(des);
    }

    /// <summary>
    /// 松开位
    /// </summary>
    public float ReleasePosition
    {
        get
        {
            _releasePosition ??= ReadFloat(ReleasePositionAddress).Result;
            return _releasePosition.Value;
        }
        set
        {
            _releasePosition = value;
            WriteFloat(ReleasePositionAddress, value);
        }
    }

    /// <summary>
    /// 夹紧位
    /// </summary>
    public float HoldingPosition
    {
        get
        {
            _holdingPosition ??= ReadFloat(HoldingPositionAddress).Result;
            return _holdingPosition.Value;
        }
        set
        {
            _holdingPosition = value;
            WriteFloat(HoldingPositionAddress, value);
        }
    }

    private float? _releasePosition;

    private float? _holdingPosition;
}