AxisManager.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
public class AxisManager
{
public bool IsShowMsg = false;
static IAxisManager instance;
public static bool UseHCBoard = true;
static AxisManager() {
instance = new HCAxisManager();
}
public static bool IsServeoOn(string portName, short slvAddr) {
return instance.IsServeoOn(portName, slvAddr);
}
public static bool OpenCard() {
return instance.OpenCard();
}
public bool CloseCard() {
return instance.CloseCard();
}
public static bool IsHomeMoveEnd(string portName, short slvAddr) {
return instance.IsHomeMoveEnd(portName, slvAddr);
}
public static bool AbsMoveIsEnd(string portName, short axisNo, int targetPosition, int canErrorCount, out bool countError)
{
return instance.AbsMoveIsEnd(portName, axisNo, targetPosition, canErrorCount, out countError);
}
public static void ServoOn(string portName, short slvAddr)
{
instance.ServoOn(portName, slvAddr);
}
public static void ServoOff(string portName, short slvAddr)
{
instance.ServoOff(portName, slvAddr);
}
public static void RelMove(string portName, short slvAddr, int position, int targetSpeed , int ptpAcc , int ptpDec )
{
instance.RelMove(portName, slvAddr, position, targetSpeed, ptpAcc, ptpDec);
}
public static void HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc)
{
instance.HomeMove(portName, slvAddr, highVel, lowVel, acc);
}
public static void SpeedMove(string portName, short slvAddr, int speed,int acc,int dec)
{
instance.SpeedMove(portName, slvAddr, speed,acc,dec);
}
public static void SuddenStop(string portName, short slvAddr)
{
instance.SuddenStop(portName, slvAddr);
}
public static bool isInPosition(string portName, short slvAddr, int PPosition, int canErrorCount, bool isLog = false)
{
return instance.isInPosition(portName, slvAddr, PPosition, canErrorCount, isLog);
}
public static void AbsMove(string portName, short slvAddr, int targetPosition, int targetSpeed , int ptpAcc , int ptpDec )
{
instance.AbsMove(portName, slvAddr, targetPosition, targetSpeed, ptpAcc, ptpDec);
}
public static void AlarmClear(string portName, short slvAddr)
{
instance.AlarmClear(portName, slvAddr);
}
public static int GetTargetPosition(string portName, short slvAddr)
{
return instance.GetTargetPosition(portName, slvAddr);
}
public static int GetActualtPosition(string portName, short slvAddr)
{
return instance.GetActualtPosition(portName, slvAddr);
}
public static int AxisStsINP(string portName, short slvAddr)
{
return instance.AxisStsINP(portName, slvAddr);
}
public static int GetAlarmStatus(string portName, short slvAddr)
{
return instance.GetAlarmStatus(portName, slvAddr);
}
public static int GetBusyStatus(string portName, short slvAddr)
{
return instance.GetBusyStatus(portName, slvAddr);
}
public static int GetHomeEndStatus(string portName, short slvAddr)
{
return instance.GetHomeEndStatus(portName, slvAddr);
}
public static int GetHomeSingle(string portName, short slvAddr)
{
return instance.GetHomeSingle(portName, slvAddr);
}
/// <summary>
/// 负极限
/// </summary>
public static int GetLimitNegativeSingle(string portName, short slvAddr)
{
return instance.GetLimitNegativeSingle(portName, slvAddr);
}
/// <summary>
/// 正极限
/// </summary>
public static int GetLimitPositiveSingle(string portName, short slvAddr)
{
return instance.GetLimitPositiveSingle(portName, slvAddr);
}
public static short GetErrorCode(string portName, short slvAddr)
{
return instance.GetErrorCode(portName, slvAddr);
}
public static void SuddenStop(ConfigMoveAxis configMoveAxis)
{
SuddenStop(configMoveAxis.DeviceName, configMoveAxis.GetAxisValue());
}
public static int GetActualtPosition(ConfigMoveAxis configMoveAxis) {
return GetActualtPosition(configMoveAxis.DeviceName, configMoveAxis.GetAxisValue());
}
public static bool ServerOnStatus(string portName, short slvAddr) {
return IsServeoOn(portName, slvAddr);
}
public static bool isInPosition(ConfigMoveAxis configMoveAxis, int PPosition, bool isLog = false) {
return isInPosition(configMoveAxis.DeviceName, configMoveAxis.GetAxisValue(), PPosition, configMoveAxis.CanErrorCountMax, isLog);
}
}
}