TeamAAS-2.5/TeamAAS.Plugins/Plugins.Motion/MotionEnablePlugins.cs

using System;
using System.Collections.Generic;
using System.Threading;
using Plugins.Motion.Models;
using TeamAAS.FlowEditor.Models;
using TeamAAS.FlowEditor.Plugins;
using TeamAAS.Motion;

namespace Plugins.Motion
{
    [Serializable]
    [Plugin("轴使能", PluginCategory.硬件模块, typeof(MotionEnableModel), "Power",
        Description = "对指定轴或全部轴上使能")]
    public class MotionEnablePlugin : BasePlugin<MotionEnableModel>
    {
        public override List<OutputField> DeclareOutputs() => new List<OutputField>
        {
            new OutputField("结果", typeof(bool)),
            new OutputField("使能", typeof(bool)),
            new OutputField("最终位置", typeof(double)),
        };

        public override NodeRunStatus PluginRun(CancellationToken token, out Dictionary<string, object> results)
        {
            var res = new Dictionary<string, object>();
            results = res;
            NodeRunStatus Fail(string m)
            {
                res["Error"] = m;
                res["结果"] = false;
                Log(1, $"轴使能失败: {m}", TeamAAS.LogLevel.Error);
                return NodeRunStatus.Failed;
            }

            try
            {
                var card = MotionPluginHelper.GetCard(Service<MotionManager>(), Model.MotionCardName, out var err);
                if (card == null) return Fail(err);
                err = MotionPluginHelper.EnsureConnected(card, Model.AutoConnect);
                if (err != null) return Fail(err);
                err = MotionPluginHelper.CheckEnableAllowed(card);
                if (err != null) return Fail(err);

                Log(3, $"轴使能 卡={card.Name} 轴={Model.AxisNo}");
                if (!card.SetEnable(Model.AxisNo, true))
                    return Fail("下发使能失败");

                if (Model.AxisNo >= 0)
                    MotionPluginHelper.FillStatus(res, card.GetAxisStatus(Model.AxisNo));
                else
                    res["使能"] = true;

                res["结果"] = true;
                return NodeRunStatus.Success;
            }
            catch (OperationCanceledException) { throw; }
            catch (Exception ex) { return Fail(ex.Message); }
        }
    }

    [Serializable]
    [Plugin("轴下使能", PluginCategory.硬件模块, typeof(MotionDisableModel), "PowerOff",
        Description = "对指定轴或全部轴下使能")]
    public class MotionDisablePlugin : BasePlugin<MotionDisableModel>
    {
        public override List<OutputField> DeclareOutputs() => new List<OutputField>
        {
            new OutputField("结果", typeof(bool)),
            new OutputField("使能", typeof(bool)),
            new OutputField("最终位置", typeof(double)),
        };

        public override NodeRunStatus PluginRun(CancellationToken token, out Dictionary<string, object> results)
        {
            var res = new Dictionary<string, object>();
            results = res;
            NodeRunStatus Fail(string m)
            {
                res["Error"] = m;
                res["结果"] = false;
                Log(1, $"轴下使能失败: {m}", TeamAAS.LogLevel.Error);
                return NodeRunStatus.Failed;
            }

            try
            {
                var card = MotionPluginHelper.GetCard(Service<MotionManager>(), Model.MotionCardName, out var err);
                if (card == null) return Fail(err);
                err = MotionPluginHelper.EnsureConnected(card, Model.AutoConnect);
                if (err != null) return Fail(err);

                Log(3, $"轴下使能 卡={card.Name} 轴={Model.AxisNo}");
                card.Stop(Model.AxisNo);
                if (!card.SetEnable(Model.AxisNo, false))
                    return Fail("下发下使能失败");

                if (Model.AxisNo >= 0)
                    MotionPluginHelper.FillStatus(res, card.GetAxisStatus(Model.AxisNo));
                else
                    res["使能"] = false;

                res["结果"] = true;
                return NodeRunStatus.Success;
            }
            catch (OperationCanceledException) { throw; }
            catch (Exception ex) { return Fail(ex.Message); }
        }
    }
}