添加

Bodk.Device.Storage/M9Storage.cs

@@ -35,6 +35,10 @@ public class M9Storage : IStorage
             _modbusWrapper.WriteCoilsAsync,
             _modbusWrapper.ReadCoilsAsync, _modbusWrapper.ReadHoldingRegistersAsync,
             _modbusWrapper.WriteHoldingRegistersAsync));
+        _modules.Add(new GantryY(alarmEventHandler, motionTimeoutAlarmEventHandler,
+            _modbusWrapper.WriteCoilsAsync,
+            _modbusWrapper.ReadCoilsAsync, _modbusWrapper.ReadHoldingRegistersAsync,
+            _modbusWrapper.WriteHoldingRegistersAsync));
     }
 
     public async Task Start()

Bodk.Device.Storage/Modules/GantryX.cs

@@ -0,0 +1,174 @@
+using Bodk.Device.Storage.EventArgs;
+
+namespace Bodk.Device.Storage.Modules;
+/// <summary>
+/// 龙门X
+/// </summary>
+/// <param name="alarmEventHandler"></param>
+/// <param name="motionTimeoutAlarmEventHandler"></param>
+/// <param name="writeCoilRegisterFunc"></param>
+/// <param name="readCoilRegisterFunc"></param>
+/// <param name="readHoldingRegistersFunc"></param>
+/// <param name="writeHoldingRegistersFunc"></param>
+public class GantryX(
+    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 => "GantryX";
+    public override string Descirption => "龙门X轴";
+    public override int Id => 5;
+
+
+    internal override ushort? EnableAddress => 104;
+
+    internal override ushort? ResetAddress => 124;
+
+    internal override ushort? CleanAddress => 144;
+
+    internal override ushort? GotoOriginAddress => 164;
+
+    internal override ushort? ForwardAddress => 184;
+
+    internal override ushort? BackwardAddress => 204;
+
+    internal override ushort? RelativeMoveAddress => 224;
+
+    internal override ushort? AbsoluteMoveAddress => 244;
+
+    internal override ushort? MotionTimeoutAlarmAddress => 284;
+
+    internal override ushort? AlarmAddress => 304;
+
+    internal override ushort? IsEnabledAddress => 334;
+
+    internal override ushort? OriginFlagAddress => 354;
+
+    internal override ushort? MoveDistanceAddress => 108;
+
+    internal override ushort? CurrentPositionAddress => 132;
+
+    internal override ushort? ManualSpeedAddress => 1008;
+
+    internal override ushort? AutoSpeedAddress => 1048;
+
+    internal override ushort? AccDecAddress => 1088;
+
+    internal override ushort? GotoOriginHighSpeedAddress => 1128;
+
+    internal override ushort? GotoOriginLowSpeedAddress => 1152;
+
+    internal ushort StandbyAddress => 1420;
+
+    internal ushort GraspFoamLidAddress => 1422;
+
+    internal ushort PlaceFoamLidAddress => 1424;
+
+    internal ushort BipolarModuleAAddress => 1384;
+
+    internal ushort BipolarModuleBAddress => 1386;
+
+    internal ushort BipolarModuleCAddress => 1388;
+
+    internal ushort UnipolarModuleAAddress => 1390;
+
+    internal ushort UnipolarModuleBAddress => 1392;
+
+    internal ushort UnipolarModuleCAddress => 1394;
+
+    /// <summary>
+    /// 移动到待机位
+    /// </summary>
+    public async Task MoveToStandbyPositionAsync()
+    {
+        await AbsoluteMoveAsync(await ReadFloat(StandbyAddress));
+    }
+
+    /// <summary>
+    /// 移动到抓取泡沫盖位
+    /// </summary>
+    public async Task MoveToGraspFoamLidPositionAsync()
+    {
+        await AbsoluteMoveAsync(await ReadFloat(GraspFoamLidAddress));
+    }
+
+    /// <summary>
+    /// 移动到放泡沫盖位
+    /// </summary>
+    public async Task MoveToPlaceFoamLidPositionAsync()
+    {
+        await AbsoluteMoveAsync(await ReadFloat(PlaceFoamLidAddress));
+    }
+
+    /// <summary>
+    /// 移动到双极模组A位
+    /// </summary>
+    public async Task MoveToBipolarModuleAPositionAsync()
+    {
+        await AbsoluteMoveAsync(await ReadFloat(BipolarModuleAAddress));
+    }
+
+    /// <summary>
+    /// 移动到双极模组B位
+    /// </summary>
+    public async Task MoveToBipolarModuleBPositionAsync()
+    {
+        await AbsoluteMoveAsync(await ReadFloat(BipolarModuleBAddress));
+    }
+
+    /// <summary>
+    /// 移动到双极模组C位
+    /// </summary>
+    public async Task MoveToBipolarModuleCPositionAsync()
+    {
+        await AbsoluteMoveAsync(await ReadFloat(BipolarModuleCAddress));
+    }
+
+    /// <summary>
+    /// 移动到单极模组A位
+    /// </summary>
+    public async Task MoveToUnipolarModuleAPositionAsync()
+    {
+        await AbsoluteMoveAsync(await ReadFloat(UnipolarModuleAAddress));
+    }
+
+    /// <summary>
+    /// 移动到单极模组B位
+    /// </summary>
+    public async Task MoveToUnipolarModuleBPositionAsync()
+    {
+        await AbsoluteMoveAsync(await ReadFloat(UnipolarModuleBAddress));
+    }
+
+    /// <summary>
+    /// 移动到单极模组C位
+    /// </summary>
+    public async Task MoveToUnipolarModuleCPositionAsync()
+    {
+        await AbsoluteMoveAsync(await ReadFloat(UnipolarModuleCAddress));
+    }
+
+    /// <summary>
+    /// 待机位
+    /// </summary>
+    public float StandbyPosition
+    {
+        get
+        {
+            _standbyPosition ??= ReadFloat(StandbyAddress).Result;
+            return _standbyPosition.Value;
+        }
+        set
+        {
+            _standbyPosition = value;
+            WriteFloat(StandbyAddress, value);
+        }
+    }
+
+    private float? _standbyPosition;
+}

Bodk.Device.Storage/Modules/GantryY.cs

@@ -1,7 +1,15 @@
 using Bodk.Device.Storage.EventArgs;
 
 namespace Bodk.Device.Storage.Modules;
-
+/// <summary>
+/// 龙门Y
+/// </summary>
+/// <param name="alarmEventHandler"></param>
+/// <param name="motionTimeoutAlarmEventHandler"></param>
+/// <param name="writeCoilRegisterFunc"></param>
+/// <param name="readCoilRegisterFunc"></param>
+/// <param name="readHoldingRegistersFunc"></param>
+/// <param name="writeHoldingRegistersFunc"></param>
 public class GantryY(
     Action<object?, AlarmChangedEventArg> alarmEventHandler,
     Action<object?, MotionTimeoutAlarmChangedEventArg> motionTimeoutAlarmEventHandler,