regulatory_net/Bodk.Device.Storage/Modules/CryogenicRackGripper2.cs

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

namespace Bodk.Device.Storage.Modules;

public class CryogenicRackGripper2(
    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 => "CryogenicRackGripper2";
    public override string Descirption => "冻存架夹爪2";
    public override int Id => 3;

    internal override ushort? EnableAddress => 102;

    internal override ushort? ResetAddress => 122;

    internal override ushort? CleanAddress => 142;

    internal override ushort? GotoOriginAddress => 162;

    internal override ushort? ForwardAddress => 182;

    internal override ushort? BackwardAddress => 202;

    internal override ushort? RelativeMoveAddress => 222;

    internal override ushort? AbsoluteMoveAddress => 242;

    internal override ushort? MotionTimeoutAlarmAddress => 282;

    internal override ushort? AlarmAddress => 302;

    internal override ushort? IsEnabledAddress => 332;

    internal override ushort? OriginFlagAddress => 352;

    internal override ushort? MoveDistanceAddress => 104;

    internal override ushort? CurrentPositionAddress => 128;

    internal override ushort? ManualSpeedAddress => 1004;

    internal override ushort? AutoSpeedAddress => 1044;

    internal override ushort? AccDecAddress => 1084;

    internal override ushort? GotoOriginHighSpeedAddress => 1124;

    internal override ushort? GotoOriginLowSpeedAddress => 1148;

    internal ushort ReleasePositionAddress => 1374;

    internal ushort HoldingPositionAddress => 1376;


    /// <summary>
    /// 是否需要加紧
    /// </summary>
    /// <param name="holding"></param>
    [Switch]
    public async Task Holding(bool holding)
    {
        if (holding)
        {
            var des = await ReadFloat(HoldingPositionAddress);
            await AbsoluteMoveAsync(des);
        }
        else
        {
            var des = await ReadFloat(ReleasePositionAddress);
            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;
}