using HslCommunication;
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using System.ComponentModel;
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using System.Reflection;
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using WIDESEAWCS_Communicator;
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using WIDESEAWCS_QuartzJob.DeviceBase;
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using WIDESEAWCS_QuartzJob.DTO;
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using WIDESEAWCS_QuartzJob.StackerCrane;
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using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
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namespace WIDESEAWCS_QuartzJob
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{
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/// <summary>
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/// 一般堆垛机实现类，实现堆垛机接口层
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/// </summary>
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[Description("堆垛机")]
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public class STK : IStackerCrane
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{
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#region Private Member
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/// <summary>
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/// 完成信号等待时间
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/// </summary>
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private const int WaitTimeout = 20 * 6000;
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/// <summary>
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/// 完成信号读取频率
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/// </summary>
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private const int ReadTimeout = 100;
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/// <summary>
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/// 堆垛机通讯对象
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/// </summary>
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private BaseCommunicator _communicator;
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/// <summary>
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/// 堆垛机协议信息
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/// </summary>
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private readonly List<DeviceProDTO> _deviceProDTOs;
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/// <summary>
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/// 堆垛机协议明细信息
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/// </summary>
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private readonly List<DeviceProtocolDetailDTO> _deviceProtocolDetailDTOs;
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/// <summary>
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/// 设备编号
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/// </summary>
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public readonly string _deviceCode;
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/// <summary>
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/// 设备名称
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/// </summary>
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public readonly string _deviceName;
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/// <summary>
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/// 上一次任务号
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/// </summary>
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private int _lastTaskNum;
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private bool _isChecked = false;
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private bool _heartStatr = true;
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private bool _isConnected = true;
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#endregion Private Member
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#region Public Member
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/// <summary>
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/// 堆垛机通讯对象
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/// </summary>
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public BaseCommunicator Communicator => _communicator;
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/// <summary>
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/// 堆垛机协议信息
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/// </summary>
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public List<DeviceProDTO> DeviceProDTOs => _deviceProDTOs;
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/// <summary>
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/// 堆垛机协议明细信息
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/// </summary>
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public List<DeviceProtocolDetailDTO> DeviceProtocolDetailDTOs => _deviceProtocolDetailDTOs;
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/// <summary>
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/// 上一次执行的任务号
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/// </summary>
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public int LastTaskNum => _lastTaskNum;
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/// <summary>
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/// 设备编号
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/// </summary>
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public string DeviceCode => _deviceCode;
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/// <summary>
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/// 设备名称
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/// </summary>
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public string DeviceName => _deviceName;
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/// <summary>
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/// 通讯是否已连接
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/// </summary>
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public bool IsConnected => Communicator.IsConnected && _isConnected;
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/// <summary>
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/// 堆垛机任务完成事件
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/// </summary>
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public event EventHandler<StackerCraneTaskCompletedEventArgs> StackerCraneTaskCompletedEventHandler;
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/// <summary>
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/// 堆垛机任务命令对象
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/// </summary>
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public object StackerCraneTaskCommand { get; set; }
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/// <summary>
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/// 堆垛机完成事件是否已订阅
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/// </summary>
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public bool IsEventSubscribed => StackerCraneTaskCompletedEventHandler != null;
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/// <summary>
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/// 堆垛机与MOM连接状态
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/// </summary>
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public bool StackerOnline { get; set; } = false;
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public int? LastTaskType { get; set; } = null;
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public int CurrentTaskNum => throw new NotImplementedException();
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public bool IsFault => throw new NotImplementedException();
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public DeviceStatus Status => throw new NotImplementedException();
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#endregion
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#region Constructor Function
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/// <summary>
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/// 构造函数
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/// </summary>
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/// <param name="communicator">堆垛机通讯对象</param>
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/// <param name="deviceProDTOs">堆垛机协议信息</param>
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/// <param name="deviceProtocolDetailDTOs">堆垛机协议明细信息</param>
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/// <param name="deviceCode">设备编号</param>
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/// <param name="deviceName">设备名称</param>
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public STK(BaseCommunicator communicator, List<DeviceProDTO> deviceProDTOs, List<DeviceProtocolDetailDTO> deviceProtocolDetailDTOs, string deviceCode, string deviceName)
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{
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_communicator = communicator;
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_deviceProDTOs = deviceProDTOs;
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_deviceProtocolDetailDTOs = deviceProtocolDetailDTOs;
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_deviceCode = deviceCode;
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_deviceName = deviceName;
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}
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#endregion
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#region Private Method
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private void AnalysisData()
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{
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}
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#endregion
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#region Public Method
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/// <summary>
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/// 发送任务命令
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/// </summary>
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/// <param name="command">任务命令</param>
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/// <returns></returns>
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public bool SendCommand<T>(T command, string childCode) where T : IDataTransfer, new()
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{
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if (!IsConnected) throw new Exception($"通讯连接错误，请检查网络");
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DeviceProDTO? devicePro = _deviceProDTOs.Where(x => x.DeviceProParamType == nameof(DeviceCommand) && x.DeviceChildCode == childCode).OrderBy(x => x.DeviceProOffset).FirstOrDefault();
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if (devicePro == null)
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{
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return false;
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}
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if (Communicator.WriteCustomer(devicePro.DeviceProAddress, command))
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{
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StackerCraneTaskCommand = command;
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return true;
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}
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return false;
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}
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/// <summary>
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/// 读取PLC数据，返回自定义对象
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/// </summary>
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/// <typeparam name="T">泛型</typeparam>
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/// <param name="deviceChildCode">子设备编号</param>
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/// <returns>返回自定义对象或抛出异常</returns>
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/// <exception cref="Exception"></exception>
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public T ReadCustomer<T>(string deviceChildCode) where T : IDataTransfer, new()
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{
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if (!IsConnected) throw new Exception($"通讯连接错误，请检查网络");
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DeviceProDTO? devicePro = _deviceProDTOs.Where(x => x.DeviceProParamType == "ReadDeviceCommand" && x.DeviceChildCode == deviceChildCode).OrderBy(x => x.DeviceProOffset).FirstOrDefault();
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if (devicePro == null)
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{
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throw new Exception("未找到协议信息");
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}
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else
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{
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return Communicator.ReadCustomer<T>(devicePro.DeviceProAddress);
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}
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}
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/// <summary>
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/// 读取PLC数据，返回自定义对象
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/// </summary>
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/// <typeparam name="T">泛型</typeparam>
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/// <param name="deviceChildCode">子设备编号</param>
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/// <param name="typeName">参数类型</param>
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/// <returns>返回自定义对象或抛出异常</returns>
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/// <exception cref="Exception"></exception>
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public T ReadCustomer<T>(string deviceChildCode, string typeName) where T : IDataTransfer, new()
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{
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if (!IsConnected) throw new Exception($"通讯连接错误，请检查网络");
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DeviceProDTO? devicePro = _deviceProDTOs.Where(x => x.DeviceProParamType == typeName && x.DeviceChildCode == deviceChildCode).OrderBy(x => x.DeviceProOffset).FirstOrDefault();
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if (devicePro == null)
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{
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throw new Exception("未找到协议信息");
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}
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else
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{
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return Communicator.ReadCustomer<T>(devicePro.DeviceProAddress);
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}
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}
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/// <summary>
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/// 根据参数名称、设备子编号写入对应的数据。
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/// </summary>
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/// <typeparam name="TEnum">参数名称枚举类型。</typeparam>
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/// <typeparam name="TValue">要写入的数据类型。</typeparam>
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/// <param name="enum">参数名称。</param>
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/// <param name="value">要写入的数据。</param>
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/// <param name="deviceChildCode">设备子编号写</param>
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/// <returns>返回写入成功或失败</returns>
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public bool SetValue<TEnum, TValue>(TEnum @enum, TValue value, string deviceChildCode)
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where TEnum : Enum
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where TValue : notnull
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{
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if (!IsConnected) throw new Exception($"通讯连接错误，请检查网络");
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DeviceProDTO? devicePro = _deviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == @enum.ToString() && x.DeviceChildCode == deviceChildCode);
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return devicePro == null ? throw new Exception($"写入数据错误,未在协议信息里面找到参数{value.ToString()}") : Communicator.WriteObj(devicePro.DeviceProAddress, devicePro.DeviceDataType, value);
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}
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/// <summary>
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/// 根据参数名称、设备子编号写入对应的数据。
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/// </summary>
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/// <typeparam name="TEnum">参数名称枚举类型。</typeparam>
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/// <typeparam name="TValue">要写入的数据类型。</typeparam>
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/// <param name="enum">参数名称。</param>
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/// <param name="value">要写入的数据。</param>
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/// <param name="deviceChildCode">设备子编号写</param>
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/// <returns>返回写入成功或失败</returns>
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public bool SetValue<TEnum, TValue>(TEnum @enum, TValue value, string deviceChildCode, string typeName)
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where TEnum : Enum
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where TValue : notnull
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{
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if (!IsConnected) throw new Exception($"通讯连接错误，请检查网络");
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DeviceProDTO? devicePro = _deviceProDTOs.FirstOrDefault(x => x.DeviceProParamType == typeName && x.DeviceProParamName == @enum.ToString() && x.DeviceChildCode == deviceChildCode);
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return devicePro == null ? throw new Exception($"写入数据错误,未在协议信息里面找到参数{value.ToString()}") : Communicator.WriteObj(devicePro.DeviceProAddress, devicePro.DeviceDataType, value);
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}
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/// <summary>
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/// 根据参数名称读取堆垛机对应的数据。
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/// </summary>
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/// <typeparam name="TEnum">参数名称枚举类型。</typeparam>
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/// <typeparam name="TRsult">读取结果的返回值类型。</typeparam>
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/// <param name="value">参数名称。</param>
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/// <returns>返回读取到的数据。</returns>
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/// <exception cref="Exception"></exception>
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public TRsult GetValue<TEnum, TRsult>(TEnum value, string childCode) where TEnum : Enum
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{
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if (!IsConnected) throw new Exception($"通讯连接错误，请检查网络");
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DeviceProDTO? devicePro = _deviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == value.ToString() && x.DeviceChildCode == childCode);
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return devicePro == null ? throw new Exception() : (TRsult)Communicator.ReadAsObj(devicePro.DeviceProAddress, devicePro.DeviceDataType);
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}
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/// <summary>
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/// 与设备的心跳
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/// </summary>
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public void Heartbeat()
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{
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}
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public void Dispose()
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{
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_heartStatr = false;
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_communicator.Dispose();
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GC.SuppressFinalize(this);
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}
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public bool SendCommand<T>(T command) where T : IDataTransfer, new()
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{
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throw new NotImplementedException();
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}
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#endregion
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}
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}
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