RealSys.MotionPlat/Rs.MotionPlat/Commom/QifuManager.cs

using Rs.Framework;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace Rs.MotionPlat.Commom
{
    public class QifuManager
    {
        public ModbusTcp modbusLeft = new ModbusTcp("192.168.1.22", 502);

        private static QifuManager instance;
        public static QifuManager Instance
        {
            get
            {
                if (instance == null)
                    instance = new QifuManager();
                return instance;
            }
        }

        private QifuManager()
        {

        }

        public void Init()
        {
            modbusLeft.Connect();
        }

        public bool Write(float value)
        {
            ModbusErrorCode err = modbusLeft.WriteMultiHoldRegister(1, 0, new ushort[] { (ushort)(4550 * value) });
            if (err == ModbusErrorCode.OK)
            {
                return true;
            }
            return false;
        }

        public bool Read()
        {
            modbusLeft.ReadUshortArr(1, FunCode.ReadMultiInputRegister, 0, 2, out int[] result);
            double Channel1Value = (0.9f * result[0] - 900) / 4000.0f;
            double Channel2Value = (0.9f * result[1] - 900) / 4000.0f;
            return true;
        }
    }
}