SKMC.API-v3/SKMC.API/Motion/MotionCacher.cs

using Prism.Mvvm;
using SKMC.Api.Motion.Control;
using SKMC.Api.Motion.Driver;
using SKMC.Api.Motion.Model;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;

namespace SKMC.Api.Motion
{
    /// <summary>
    /// 运动控制缓存
    /// </summary>
    public abstract class MotionCacher : BindableBase
    {

        public IMotionDriver MotionDriver { get; set; }

        public IMotionDriverAdvance MotionDriverAdvance { get; set; }

        public IMotionControl MotionControl { get; set; }


        private int _ecatStatusNow;
        /// <summary>
        /// Ecat总线当前状态，0为正常，非0为异常码
        /// </summary>
        public int MotionEcatStatusNow 
        {
            get { return _ecatStatusNow; }
            set { _ecatStatusNow = value; RaisePropertyChanged(); }
        }

        private int _ecatStatusLatch;
        /// <summary>
        /// Ecat总线状态锁存，0为正常，非0为异常码。只要检测到一次Ecat连接异常就不为0直到重连总线或者重启程序并连接成功
        /// </summary>
        public int MotionEcatStatusLatch 
        {
            get { return _ecatStatusLatch; }
            set { _ecatStatusLatch = value; RaisePropertyChanged(); }
        }

        /// <summary>
        /// Axis对象集
        /// </summary>
        public List<MotionAxis> MotionAxises { get; set; } = new List<MotionAxis>();

        /// <summary>
        /// Axis轨迹运动数据集
        /// </summary>
        //public List<MotionTraject> MotionTrajects { get; set; } = new List<MotionTraject>();

        /// <summary>
        /// DI 模块集
        /// </summary>
        public List<MotionIODev> MotionDiDevs { get; set; } = new List<MotionIODev>();

        /// <summary>
        /// DO 模块集
        /// </summary>
        public List<MotionIODev> MotionDoDevs { get; set; } = new List<MotionIODev>();

        /// <summary>
        /// AO 数据点集
        /// </summary>
        public List<MotionAO> MotionAos { get; set; } = new List<MotionAO>();

        /// <summary>
        /// SDO 数据集
        /// </summary>
        public List<MotionSdo> MotionSdos { get; set; } = new List<MotionSdo>();

        /// <summary>
        /// 可写PDO数据集
        /// </summary>
        public List<MotionPdo> MotionWritePdos { get; set; } = new List<MotionPdo>();

        /// <summary>
        /// 只读PDO数据集
        /// </summary>
        public List<MotionPdo> MotionReadPdos { get; set; } = new List<MotionPdo>();

        public abstract MotionIO GetMotionDi(string code);

        public abstract MotionIO GetMotionDo(string code);

        public abstract MotionIO GetMotionDio(string code);

        public abstract MotionAO GetMotionAO(string code);

        public abstract MotionPdo GetMotionWritePdo(string code);

        public abstract MotionPdo GetMotionReadPdo(string code);

        [Obsolete("此方法已废弃")]
        public abstract void SetMotionDi(string code, byte value, bool testMode = false);

        [Obsolete("此方法已废弃")]
        public abstract void SetMotionDo(string code, byte value, bool testMode = false);

        public abstract MotionAxis GetMotionAxis(string axisCode);

        public abstract MotionAxis GetMotionAxis(short axisNo);
    }
}