using System;
using System.Collections.Generic;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace ACServoDriveTest
{
    public class ACServerManager
    {
        public static RichTextBox richeBox = null;
        public static void AddLog(string str)
        {
            if (richeBox != null)
            {
                richeBox.AppendText(str);
            }
        }
        private static Dictionary<int, Dictionary<string, RegisterInfo>> LastDataMap = new Dictionary<int, Dictionary<string, RegisterInfo>>();

        //private static SerialBean bean = null;
        private static string strFromat = "{0:X2}";
        private static Dictionary<string, SerialBean> serialBeanMap = new Dictionary<string, SerialBean>();

        private static SerialBean GetSerialBean(string portName)
        {
            if (serialBeanMap.ContainsKey(portName))
            {
                return serialBeanMap[portName];
            }
            return null;
        }
        public static bool OpenPort(string portName)
        {
            SerialBean bean = new SerialBean(portName, 9600, Parity.Even, 8, StopBits.One);
            bool result = bean.openPort();
            if (!result)
            {
                Console.WriteLine("打开串口失败");
                //MessageBox.Show("打开串口失败");
                return false;
            }
            bean.DataReceived += DataReceived;

            if (serialBeanMap.ContainsKey(portName))
            {
                serialBeanMap.Remove(portName);
            }
            serialBeanMap.Add(portName, bean);

            return true;
        }

        public static void InitSlvAddr(string portName,int slvAddr)
        {   //写入block

            string slvAddrStr = string.Format(strFromat, slvAddr);
            //block0=原点返回，正方向
            string str0 = slvAddrStr + "104800 000408 00000420 00000000 ffff";
            SendStr(portName, str0);
            //block1=原点返回，反方向
            string str1 = slvAddrStr + "104804 000408 04000420 00000000 ffff";
            SendStr(portName, str1);
            //block2=绝对位置运动
            string str2 = slvAddrStr + "104808 000408 10000211EC78FFFF ffff";
            SendStr(portName, str2);
            //block3=相对位置运动
            string str3 = slvAddrStr + "10480C 000408 10000111EC78FFFF ffff";
            SendStr(portName, str3);
            //block4=正方向匀速运动
            string str4 = slvAddrStr + "104810 000408 10000311 00000000 ffff";
            SendStr(portName, str4);
            //block5=反方向匀速运动
            string str5 = slvAddrStr + "104814 000408 14000311 00000000 ffff";
            SendStr(portName, str5);
            //block6=减速停止
            string str6 = slvAddrStr + "104818 000408 00000500 00000000 ffff";
            SendStr(portName, str6);

            //block7=紧急停止 
            string str7 = slvAddrStr + "10481c 000408 00000510 00000000 ffff";
            SendStr(portName, str7);


            //0106460001009D12
            //速度 V1 =100
            string v1 = slvAddrStr + "064601  0064  ffff";
            SendStr(portName, v1);
            //加速度 A1 =30
            string a1 = slvAddrStr + "064611 001E  ffff";
            SendStr(portName, a1);
            //减速度 D1=30
            string d1 = slvAddrStr + "064621  001E  ffff";
            SendStr(portName, d1);

            //原点返回高速 homeHighSpeed=100
            SendStr(portName, slvAddrStr + "06 4637 0064 ffff");
            //原点返回抵速 homeLowSpeed=50
            SendStr(portName, slvAddrStr + "06 4638 0032 ffff");
            //原点返回加速度=30
            SendStr(portName, slvAddrStr + "06 4639 001E ffff");

        }
        public static void RunBlock(string portName,int slvAddr, int index)
        {
            //运动
            byte[] data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, "4414", index.ToString(), 2);
             SendData(portName, data);

            //开始   
            byte[] data1 = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, ACCMDManager.STB_Addr, "0000", 2);
            SendData(portName, data1);
            System.Threading.Thread.Sleep(100);
            byte[] data2 = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, ACCMDManager.STB_Addr, "ff00", 2);
            SendData(portName, data2);
        }
        public static void SendStr(string  portName,string str)
        {
            byte[] data = SerialBean.StringToByte(str);
            data[data.Length - 1] = 0x00;
            data[data.Length - 2] = 0x00;
            data = ACCMDManager.buildCheckData(data, data.Length - 2);
             SendData(portName, data);
            System.Threading.Thread.Sleep(100);
        }

        public static void DataReceived(string portName, object sender, SerialDataReceivedEventArgs e, byte[] bits)
        {
            string strSend = "";
            for (int i = 0; i < bits.Length; i++)
            {
                strSend += string.Format("{0:X2} ", bits[i]);
            }

            Console.WriteLine("收到数据：" + strSend + "\r\n");
            AddLog(DateTime.Now.ToLongTimeString() + " 收到数据：" + strSend + "\r\n");
            string str = "";
            string strFromat = "{0:X2}";
            byte slvAddr = bits[0];
            int lenth = bits[2];
            byte cmd = bits[1];
            if (cmd.Equals(ACCMDManager.CMD_ReadRegisters) && bits.Length > 6)
            {
                if (PreReadAddr.Equals(ACCMDManager.TargetPostion))
                {
                    if (lenth == 4)
                    {
                        str = string.Format(strFromat, bits[5]) + string.Format(strFromat, bits[6]) + string.Format(strFromat, bits[3]) + string.Format(strFromat, bits[4]);
                        int value = Convert.ToInt32(str.Trim().Replace(" ", ""), 16);
                        SaveData(portName, slvAddr, ACCMDManager.TargetPostion, value);
                    }
                }
                else if (PreReadAddr.Equals(ACCMDManager.ActualPosition))
                {
                    if (lenth == 4)
                    {
                        str = string.Format(strFromat, bits[5]) + string.Format(strFromat, bits[6]) + string.Format(strFromat, bits[3]) + string.Format(strFromat, bits[4]);
                        int value = Convert.ToInt32(str.Trim().Replace(" ", ""), 16);

                        SaveData(portName, slvAddr, ACCMDManager.ActualPosition, value);
                    }
                }
                else
                {
                    for (int i = 3; i < 3 + lenth; i++)
                    {
                        str += string.Format("{0:X2} ", bits[i]);
                    }
                    str = str.Replace(" ", "");
                    int value = Convert.ToInt32(str, 16);
                    AddLog("转换后结果：" + value + "\r\n");
                    //this.richTextBox1.AppendText("转换后结果：" + value + "\r\n");
                    Console.WriteLine("转换后结果：" + value);
                }
                //MessageBox.Show("收到数据："+value);
            }
            else if (cmd.Equals(ACCMDManager.CMD_ReadCoil) && bits.Length >= 6)
            {
                if (PreReadCoilAddr.Equals(ACCMDManager.Alarm_Status))
                {
                    if (lenth == 1)
                    {
                        str = string.Format(strFromat, bits[3]);
                        int value = Convert.ToInt32(str.Trim().Replace(" ", ""), 16);
                        SaveData(portName, slvAddr, ACCMDManager.Alarm_Status, value);
                    }
                }
                else if (PreReadCoilAddr.Equals(ACCMDManager.BUSYStatus))
                {
                    if (lenth == 1)
                    {
                        str = string.Format(strFromat, bits[3]);
                        int value = Convert.ToInt32(str.Trim().Replace(" ", ""), 16);
                        SaveData(portName, slvAddr, ACCMDManager.BUSYStatus, value);
                    }
                }
                else if (PreReadCoilAddr.Equals(ACCMDManager.HOME_CMP_Status))
                {
                    if (lenth == 1)
                    {
                        str = string.Format(strFromat, bits[3]);
                        int value = Convert.ToInt32(str.Trim().Replace(" ", ""), 16);
                        SaveData(portName, slvAddr, ACCMDManager.HOME_CMP_Status, value);
                    }
                }

            }
            if (strSend.Equals(""))
            {
                return;
            }
        }

        public static void SaveData(string portName,byte slvAddr, string regAddr, int value)
        {
            if (LastDataMap.ContainsKey(slvAddr))
            {
                if (LastDataMap[slvAddr].ContainsKey(regAddr))
                {
                    LastDataMap[slvAddr][regAddr] = new RegisterInfo(slvAddr, regAddr, value);
                }
                else
                {
                    LastDataMap[slvAddr].Add(regAddr, new RegisterInfo(slvAddr, regAddr, value));
                }
            }
            else
            {
                Dictionary<string, RegisterInfo> map = new Dictionary<string, RegisterInfo>();
                map.Add(regAddr, new RegisterInfo(slvAddr, regAddr, value));
                LastDataMap.Add(slvAddr, map);
            }
        }
        public static RegisterInfo GetData(string portName,byte slvAddr, string regAddr)
        {
            if (LastDataMap.ContainsKey(slvAddr))
            {
                if (LastDataMap[slvAddr].ContainsKey(regAddr))
                {
                    return LastDataMap[slvAddr][regAddr];
                }
            } return null;
        }
        public static void ColsePort(string portName)
        {
            SerialBean bean = GetSerialBean(portName);
            if (bean == null)
            {
                AddLog("串口【" + portName + "】不存在");
                return;
            }
            bean.closePort();
        }

        public static void SendData(string portName,byte[] data)
        {
            if (data == null)
            {
                return;
            }
            string strSend = "";
            for (int i = 0; i < data.Length; i++)
            {
                strSend += string.Format("{0:X2} ", data[i]);
            }
            if (strSend.Equals(""))
            {
                return;
            }
            Console.WriteLine(DateTime.Now.ToLongTimeString() + " 写入数据：" + strSend);
            AddLog(DateTime.Now.ToLongTimeString() + " 写入数据：" + strSend + "\r\n");
            // this.richTextBox1.AppendText("写入数据：" + strSend + "\r\n");

            SerialBean bean = GetSerialBean(portName);
            if (bean == null)
            {
                AddLog("串口【" + portName + "】不存在");
                return;
            }
            
            bean.SendData(data, 0, data.Length);
        }
        /// <summary>
        /// 发送数据并获取返回值
        /// </summary>
        /// <param name="data">发送的数据</param>
        /// <param name="outTime">超时时间</param>
        /// <returns>返回值的长度</returns>
        public static byte[] SendCommand(string portName,byte[] data, int outTime, int reviceLength)
        {
            byte[] returnData = null;

            try
            {
                if (data == null)
                {
                    return returnData;
                }
                string strSend = "";
                for (int i = 0; i < data.Length; i++)
                {
                    strSend += string.Format("{0:X2} ", data[i]);
                }
                if (strSend.Equals(""))
                {
                    return returnData;
                }
                Console.WriteLine(DateTime.Now.ToLongTimeString() + " 写入数据：" + strSend);
                AddLog(DateTime.Now.ToLongTimeString() + " 写入数据：" + strSend + "\r\n");
                // this.richTextBox1.AppendText("写入数据：" + strSend + "\r\n");

                SerialBean bean = GetSerialBean(portName);
                if (bean == null)
                {
                    AddLog("串口【" + portName + "】不存在");
                }
                else
                {
                    bean.SendCommand(data, ref returnData, outTime, reviceLength);
                }
            }
            catch (Exception ex)
            {
                AddLog(ex.ToString());
            }
            return returnData;
        }


        public static void WriteData(string portName,int slvAddr, string addr, string data, byte cmd, int length)
        {
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, cmd, addr, data, length);
            SendData(portName,dataArray);
        }


        public static void RelMove(string portName,int slvAddr, int position)
        {
            //int position = Convert.ToInt32(txtPosition.Text);
            byte[] positionData = SerialBean.StringToByte(position.ToString("X8"));
            byte[] data = SerialBean.StringToByte("0110480C 000408 10000111EC78FFFF ffff");
            data[0] = (byte)slvAddr;
            data[data.Length - 1] = 0x00;
            data[data.Length - 2] = 0x00;

            if (positionData.Length == 4)
            {
                data[11] = positionData[2];
                data[12] = positionData[3];
                data[13] = positionData[0];
                data[14] = positionData[1];
            }
            else if (positionData.Length == 3)
            {
                data[11] = positionData[1];
                data[12] = positionData[2];
                data[13] = 0x00;
                data[14] = positionData[0];
            }
            else if (positionData.Length == 2)
            {
                data[11] = positionData[0];
                data[12] = positionData[1];
                data[13] = 0x00;
                data[14] = 0x00;
            }
            else if (positionData.Length == 1)
            {
                data[11] = 0x00;
                data[12] = positionData[0];
                data[13] = 0x00;
                data[14] = 0x00;
            }
            data = ACCMDManager.buildCheckData(data, data.Length - 2);
             SendData(portName, data);
            System.Threading.Thread.Sleep(100);
            //运动
            data = ACCMDManager.GetWriteData(slvAddr, 06, ACCMDManager.BlockNo, "3", 2);
             SendData(portName, data);

            Thread.Sleep(100);
            OpenSTB(portName, slvAddr);
        }

        public static void HomeMove(string portName,int slvAddr, int speed)
        {
            byte[] date = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, "4637", string.Format("{0:X2}", Math.Abs(speed)), 1);
            SendData(portName, date);
            Thread.Sleep(100);
            date = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, "4638", string.Format("{0:X2}", Math.Abs(speed / 2)), 1);
            SendData(portName, date);
            Thread.Sleep(100);
            if (speed > 0)
            {
                byte[] data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, "0", 2);
                 SendData(portName, data);
            }
            else
            {
                byte[] data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, "1", 2);
                 SendData(portName, data);
            }

            Thread.Sleep(100);
            OpenSTB(portName, slvAddr);
        }

        public static void SpeedMove(string portName,int slvAddr, int speed)
        {
            byte[] data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, "4601", string.Format("{0:X2}", Math.Abs(speed)), 2);
             SendData(portName, data);
            Thread.Sleep(100);
            if (speed > 0)
            {
                data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, "4", 2);
                 SendData(portName, data);
            }
            else
            {
                data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, "5", 2);
                 SendData(portName, data);
            }
            Thread.Sleep(100);
            OpenSTB(portName, slvAddr);
        }

        public static void AbsMove(string portName,int slvAddr, int position)
        {
            //int position = Convert.ToInt32(txtPosition.Text, 10);
            byte[] positionData = SerialBean.StringToByte(position.ToString("X8"));
            byte[] data = SerialBean.StringToByte("01104808 000408 10000211 EC78FFFF ffff");
            data[0] = (byte)slvAddr;
            data[data.Length - 1] = 0x00;
            data[data.Length - 2] = 0x00;

            if (positionData.Length == 4)
            {
                data[11] = positionData[2];
                data[12] = positionData[3];
                data[13] = positionData[0];
                data[14] = positionData[1];
            }
            else if (positionData.Length == 3)
            {
                data[11] = positionData[1];
                data[12] = positionData[2];
                data[13] = 0x00;
                data[14] = positionData[0];
            }
            else if (positionData.Length == 2)
            {
                data[11] = positionData[0];
                data[12] = positionData[1];
                data[13] = 0x00;
                data[14] = 0x00;
            }
            else if (positionData.Length == 1)
            {
                data[11] = 0x00;
                data[12] = positionData[0];
                data[13] = 0x00;
                data[14] = 0x00;
            }
            data = ACCMDManager.buildCheckData(data, data.Length - 2);
             SendData(portName, data);
            System.Threading.Thread.Sleep(100);
            data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, "2", 2);
             SendData(portName, data);
            Thread.Sleep(100);
            OpenSTB(portName, slvAddr);
        }

        public static void SendStr(string portName,int slvAddr, string str)
        {
            //string str = txtSendStr.Text;
            byte[] data = SerialBean.StringToByte(str);
            data[data.Length - 1] = 0x00;
            data[data.Length - 2] = 0x00;
            data = ACCMDManager.buildCheckData(data, data.Length - 2);
            SendData(portName, data);

        }

        public static void Stop(string portName,int slvAddr)
        {
            //RunBlock(6);
            string addr = ACCMDManager.Stop_Addr;
            string data = "FF00";
            //byte cmd = 0x05;
            int length = 2;
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
            SendData(portName,dataArray);

            System.Threading.Thread.Sleep(1000);
            data = "0000";
            dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
            SendData(portName,dataArray);
        }

        public static void SuddenStop(string portName,int slvAddr)
        {
            // RunBlock(7);
            string addr = ACCMDManager.SDStop_Addr;
            string data = "FF00";
            //byte cmd = 0x05;

            int length = 2;
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
            SendData(portName,dataArray);
            System.Threading.Thread.Sleep(1000);
            data = "0000";
            dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
            SendData(portName,dataArray);
        }

        public static void ServoOn(string portName,int slvAddr)
        {
            string addr = ACCMDManager.ServerOn_Addr;
            string data = "FF00";
            //byte cmd = 0x05;

            int length = 2;
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
            SendData(portName,dataArray);
        }

        public static void ServoOff(string portName,int slvAddr)
        {
            string addr = ACCMDManager.ServerOn_Addr;
            string data = "0000";
            //byte cmd = 0x05; 
            int length = 2;
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
            SendData(portName,dataArray);
        }

        public static void OpenSTB(string portName,int slvAddr)
        {
            string addr = ACCMDManager.STB_Addr;
            string data = "FF00";
            //byte cmd = 0x05;
            int length = 2;
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
            SendData(portName,dataArray);
            System.Threading.Thread.Sleep(1000);
            data = "0000";
            dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
            SendData(portName,dataArray);
        }

        public static void CloseSTB(string portName,int slvAddr)
        {
            string addr = ACCMDManager.STB_Addr;
            string data = "0000";
            //byte cmd = 0x05;
            int length = 2;
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
            SendData(portName,dataArray);
        }

        public static void UpdateBlock(string portName, int slvAddr, int blockNum)
        {
            byte[] data = ACCMDManager.GetWriteData(01, 06, ACCMDManager.BlockNo, blockNum.ToString(), 2);
            SendData(portName, data);
        }

        public static void AlarmClear(string portName,int slvAddr)
        {
            string addr = ACCMDManager.Clear_Alarm_Addr;
            string data = "FF00";
            //byte cmd = 0x05;
            int length = 2;
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
            SendData(portName,dataArray);
            System.Threading.Thread.Sleep(1000);
            data = "0000";
            dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
            SendData(portName,dataArray);
        }
        public static void CloseAlarmClear(string portName,int slvAddr)
        {
            string addr = ACCMDManager.Clear_Alarm_Addr;
            string data = "0000";
            //byte cmd = 0x05;
            int length = 2;
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
            SendData(portName, dataArray);
        }

        private static string PreReadAddr = "";
        private static string PreReadCoilAddr = "";

        public static int GetRegisterData(string portName,byte[] reviceData, string Address)
        {
            if (reviceData != null && reviceData.Length > 0)
            {
                string strSend = "";
                for (int i = 0; i < reviceData.Length; i++)
                {
                    strSend += string.Format("{0:X2} ", reviceData[i]);
                }

                Console.WriteLine("收到数据：" + strSend + "\r\n");
                AddLog(DateTime.Now.ToLongTimeString() + " 收到数据：" + strSend + "\r\n");
                string strFromat = "{0:X2}";
                byte slvAddrR = reviceData[0];

                int lenth = reviceData[2];
                byte cmd = reviceData[1];
                if (cmd.Equals(ACCMDManager.CMD_ReadRegisters) && reviceData.Length > 6 && lenth == 4)
                {
                    string str = string.Format(strFromat, reviceData[5]) + string.Format(strFromat, reviceData[6]) + string.Format(strFromat, reviceData[3]) + string.Format(strFromat, reviceData[4]);
                    int value = Convert.ToInt32(str.Trim().Replace(" ", ""), 16);
                    SaveData(portName, slvAddrR, Address, value);
                    return value;
                }
            } return -1;
        }
        public static int GetTargetPosition(string portName,int slvAddr)
        {
            PreReadAddr = ACCMDManager.TargetPostion;
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadRegisters, ACCMDManager.TargetPostion, "0000", 2);
            //  SendData(portName,dataArray);
            byte[] reviceData = SendCommand(portName, dataArray, 100, 9);

            return GetRegisterData(portName, reviceData, ACCMDManager.TargetPostion);
        }
        public static int GetActualtPosition(string portName, int slvAddr)
        {
            PreReadAddr = ACCMDManager.ActualPosition;
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadRegisters, ACCMDManager.ActualPosition, "0000", 2);
            //  SendData(portName,dataArray);
            byte[] reviceData = SendCommand(portName, dataArray, 100, 9);

            return GetRegisterData(portName, reviceData, ACCMDManager.ActualPosition);
        }

        public static int GetCoilData(string portName,byte[] reviceData, string Address)
        {
            if (reviceData != null && reviceData.Length > 0)
            {
                string strSend = "";
                for (int i = 0; i < reviceData.Length; i++)
                {
                    strSend += string.Format("{0:X2} ", reviceData[i]);
                }

                Console.WriteLine("收到数据：" + strSend + "\r\n");
                AddLog(DateTime.Now.ToLongTimeString() + " 收到数据：" + strSend + "\r\n");
                string strFromat = "{0:X2}";
                byte slvAddrR = reviceData[0];

                int lenth = reviceData[2];
                byte cmd = reviceData[1];
                if (cmd.Equals(ACCMDManager.CMD_ReadCoil) && reviceData.Length >= 6 && lenth == 1)
                {
                    string str = string.Format(strFromat, reviceData[3]);
                    int value = Convert.ToInt32(str.Trim().Replace(" ", ""), 16);
                    SaveData(portName, slvAddrR, Address, value);
                    return value;
                }
            } return -1;
        }
        public static int GetAlarmStatus(string portName, int slvAddr)
        {
            PreReadCoilAddr = ACCMDManager.Alarm_Status;
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadCoil, ACCMDManager.Alarm_Status, "0000", 1);
            //SendData(portName,dataArray); 
            byte[] reviceData = SendCommand(portName, dataArray, 100, 6);
            return GetCoilData(portName, reviceData, ACCMDManager.Alarm_Status);
        }

        public static int GetBusyStatus(string portName,int slvAddr)
        {
            PreReadCoilAddr = ACCMDManager.BUSYStatus;
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadCoil, ACCMDManager.BUSYStatus, "0000", 1);
            //SendData(portName,dataArray); 
            byte[] reviceData = SendCommand(portName, dataArray, 100, 6);
            return GetCoilData(portName, reviceData, ACCMDManager.Alarm_Status);
        }

        public static int GetHomeEndStatus(string portName,int slvAddr)
        {
            PreReadCoilAddr = ACCMDManager.HOME_CMP_Status;
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadCoil, ACCMDManager.HOME_CMP_Status, "0000", 1);
            //SendData(portName,dataArray); 
            byte[] reviceData = SendCommand(portName, dataArray, 100, 6);
            return GetCoilData(portName, reviceData, ACCMDManager.Alarm_Status);
        }
     
    }
    /// <summary>
    /// 记录最后一次获得的寄存器的值
    /// </summary>
    public class RegisterInfo
    {
        public RegisterInfo(int slv, string addr, int data)
        {
            this.SlvAddr = slv;
            this.RegisterAddr = addr;
            this.LastData = data;
            this.LastTime = new DateTime();
        }
        public int SlvAddr { get; set; }

        public string RegisterAddr { get; set; }

        public int LastData { get; set; }

        public DateTime LastTime { get; set; }
    }
}