RealSys.MotionPlat/Rs.Motion/Ztm/ZtmCard.cs

using Rs.Framework;
using Rs.Motion.Base;
using Rs.Motion.Base.Config;
using Rs.Motion.Ztm;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Xml.Serialization;

namespace Rs.Motion.GugaoEcat
{
    public class ZtmCard:ICard
    {
        private ushort m_mc = 999;
		public ZtmCard(ushort cardID,ushort mc,ushort axisCount,string cfgName) 
		{
            m_mc = mc;
			CardID= cardID;
			AxisCount= axisCount;
			CfgName= cfgName;
			Config = new CardConfig();
		}

		public ushort GetMC()
		{
			return m_mc;
		}

		private ushort _CardID;

		/// <summary>
		/// 卡编号
		/// </summary>
		[XmlIgnore]
		public ushort CardID
        {
			get { return _CardID; }
			set { _CardID = value; }
		}


		private ushort _AxisCount;
        [XmlIgnore]
        public ushort AxisCount
        {
			get { return _AxisCount; }
			set { _AxisCount = value; }
		}

		private string _CfgName;
        [XmlIgnore]
        public string CfgName
		{
			get { return _CfgName; }
			set { _CfgName = value; }
		}

        public override ErrorCode Init()
		{
			string baseDir = AppDomain.CurrentDomain.BaseDirectory;
			string filePath=Path.Combine(baseDir,"Config","Motion", CfgName);
			//检测文件夹是否存在，不存在则创建
			if(!Directory.Exists(Path.GetDirectoryName(filePath)))
			{
				Directory.CreateDirectory(Path.GetDirectoryName(filePath));
			}
			//判断文件是否存在,如果不存在配置文件，则生成配置文件
			if(!File.Exists(filePath))
			{
				Config.Init(CardID, AxisCount,0);
                Config.AxisConfigs.ForEach((ac) => { ac.CardMc =(short) m_mc; });
				bool suc = XmlSerializerHelper.Instance.Serialize(filePath, Config);
				if(!suc)
				{
					return ErrorCode.CardLoadConfigFail;
				}
			}
			else
			{
                bool suc = XmlSerializerHelper.Instance.Deserialize<CardConfig>(filePath ,out CardConfig config);
				Config=config;
				foreach(AxisConfig ac in Config.AxisConfigs)
                {
                    ac.CardMc = (short)m_mc;
                }
            }
            InitAxis();
            return ErrorCode.Ok;
        }

		public override ErrorCode Save()
		{
			if(Config != null)
			{
                string baseDir = AppDomain.CurrentDomain.BaseDirectory;
                string filePath = Path.Combine(baseDir, "Config", "Motion", CfgName);
                if (File.Exists(filePath))
				{
					File.Delete(filePath);
                    XmlSerializerHelper.Instance.Serialize(filePath, Config);
					return ErrorCode.Ok;
                }
            }
			return ErrorCode.CardNotInit;
		}

		private ErrorCode InitAxis()
		{
			for(int i=0; i<AxisCount; i++)
			{
				IAxis axis = new ZtmAxis(Config.AxisConfigs[i]);
				axis.Card = this;
				axis.Config.Axis = axis;
				axis.Init();
				AxisIdDic.Add(axis.Config.AxisId, axis);
				AxisNameDic.Add(axis.Config.AxisName, axis);
			}
			return ErrorCode.Ok;
		}
	}
}