110 lines
2.5 KiB
C#
110 lines
2.5 KiB
C#
using Aitex.Core.Common.DeviceData;
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using Aitex.Core.RT.DataCenter;
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using Aitex.Core.RT.Device;
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using Aitex.Core.RT.OperationCenter;
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namespace MECF.Framework.Common.Device.Bases
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{
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public abstract class MotorBase : BaseDevice, IDevice
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{
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public virtual bool IsServoOn { get; set; }
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public virtual bool IsError { get; set; }
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public virtual bool IsHomed { get; set; }
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public virtual bool IsMoving { get; set; }
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public virtual bool IsInTargetPosition { get; set; }
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public virtual float CurrentPosition { get; set; }
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public virtual float Target { get; set; }
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public virtual AITServoMotorData DeviceData { get; set; }
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protected MotorBase()
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{
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}
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protected MotorBase(string module, string name)
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: base(module, name, name, name)
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{
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}
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public virtual bool Initialize()
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{
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DATA.Subscribe(base.Module + "." + base.Name + ".DeviceData", () => DeviceData);
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DATA.Subscribe(base.Module + "." + base.Name + ".IsServoOn", () => IsServoOn);
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DATA.Subscribe(base.Module + "." + base.Name + ".IsError", () => IsError);
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DATA.Subscribe(base.Module + "." + base.Name + ".IsHomed", () => IsHomed);
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DATA.Subscribe(base.Module + "." + base.Name + ".IsMoving", () => IsMoving);
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DATA.Subscribe(base.Module + "." + base.Name + ".IsInTargetPosition", () => IsInTargetPosition);
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DATA.Subscribe(base.Module + "." + base.Name + ".CurrentPosition", () => CurrentPosition);
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OP.Subscribe(base.Module + "." + base.Name + ".Home", delegate
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{
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Home();
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return true;
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});
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OP.Subscribe(base.Module + "." + base.Name + ".ServoOn", delegate
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{
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ServoOn();
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return true;
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});
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OP.Subscribe(base.Module + "." + base.Name + ".SetSpeed", delegate(string function, object[] args)
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{
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SetSpeed((float)args[0]);
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return true;
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});
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OP.Subscribe(base.Module + "." + base.Name + ".SetPosition", delegate(string function, object[] args)
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{
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SetPosition((float)args[0]);
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return true;
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});
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OP.Subscribe(base.Module + "." + base.Name + ".StopMotion", delegate
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{
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StopMotion();
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return true;
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});
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OP.Subscribe(base.Module + "." + base.Name + ".ResetError", delegate
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{
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ResetError();
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return true;
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});
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return true;
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}
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public virtual void Home()
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{
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}
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public virtual void ServoOn()
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{
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}
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public virtual void SetSpeed(float speed)
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{
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}
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public virtual void SetPosition(float position)
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{
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}
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public virtual void StopMotion()
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{
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}
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public virtual void ResetError()
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{
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}
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public virtual void Terminate()
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{
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}
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public virtual void Reset()
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{
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}
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}
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}
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