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QUYVN
2026-07-03 16:37:12 +07:00
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srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Services/Robot/Modules/RobotPlcData.cs Normal file
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using RobotNet.VDA5050.Type;
using RobotNet10.RobotApp.Interfaces;
namespace RobotNet10.RobotApp.Services.Robot;
public partial class RobotPlcController
{
public OperatingMode PeripheralMode { get; private set; }
public SafetySpeed SafetySpeed { get; private set; }
public bool Emergency { get; private set; }
public bool Bumper { get; private set; }
public bool LidarFrontProtectField { get; private set; }
public bool LidarBackProtectField { get; private set; }
public bool LidarFrontTimProtectField { get; private set; }
// Lift state - now cached instead of direct read
public bool LiftedUp { get; private set; }
public bool LiftedDown { get; private set; }
public bool LiftHome { get; private set; }
// Motor state - now cached instead of direct read
public bool LeftMotorReady { get; private set; }
public bool RightMotorReady { get; private set; }
public bool LiftMotorReady { get; private set; }
public bool ButtonStart { get; private set; }
public bool ButtonStop { get; private set; }
public bool ButtonReset { get; private set; }
// Other state - now cached instead of direct read
public bool HasLoad { get; private set; }
public bool EnabledCharger { get; private set; }
public bool Charging { get; private set; }
public bool MutedBase { get; private set; }
public bool MutedLoad { get; private set; }
// Write state tracking - đọc từ write addresses của PLC
public SystemState CurrentSystemState => ReadSystemState();
public OperationState CurrentOperationState => ReadOperationState();
public RFMode CurrentRFMode => ReadRFMode();
public bool SetHorizontalLoadValue => ModbusTcpDevice?.ReadCoil(SetHorizontalLoadAddress) ?? false;
public bool SetMutedBaseValue => ModbusTcpDevice?.ReadCoil(SetMutedBaseAddress) ?? false;
public bool SetMutedLoadValue => ModbusTcpDevice?.ReadCoil(SetMutedLoadAddress) ?? false;
public bool SetEnableChargerValue => ModbusTcpDevice?.ReadCoil(EnableChargerAddress) ?? false;
public bool SetHasLoadValue => ModbusTcpDevice?.ReadCoil(SetHasLoadAddress) ?? false;
public bool SetRFEStopValue => ModbusTcpDevice?.ReadCoil(SetRFEStopAddress) ?? false;
public bool SetBatteryLowValue => ModbusTcpDevice?.ReadCoil(SetBatteryLowAddress) ?? false;
public bool SetLightOnValue => ModbusTcpDevice?.ReadCoil(SetLightOnAddress) ?? false;
private SystemState ReadSystemState()
{
var device = ModbusTcpDevice;
if (device is null) return SystemState.INIT;
bool[] states = device.ReadCoils(RobotStateWriteAddress, 10);
if (states.Length == 10)
{
// Decode state from one-hot encoded coils
if (states[0]) return SystemState.INIT;
else if (states[1]) return SystemState.PAUSED;
else if (states[2]) return SystemState.IDLE;
else if (states[3]) return SystemState.PROCCESSING;
else if (states[4]) return SystemState.DOCKING;
else if (states[5]) return SystemState.MAINTENANCE;
else if (states[6]) return SystemState.MANUAL;
else if (states[7]) return SystemState.OVERRIDE;
else if (states[8]) return SystemState.CHARGING;
else if (states[9]) return SystemState.ERROR;
}
else Logger.Warning($"Read system state is failed: data length {states.Length} is wrong.");
return SystemState.INIT;
}
private OperationState ReadOperationState()
{
var device = ModbusTcpDevice;
if (device is null) return OperationState.None;
bool[] states = device.ReadCoils(RobotOperationWriteAddress, 3);
if (states.Length == 3)
{
// Decode operation state from one-hot encoded coils
if (states[0]) return OperationState.Move;
else if (states[1]) return OperationState.Lifting;
else if (states[2]) return OperationState.LiftRotating;
else return OperationState.None;
}
else Logger.Warning($"Read operation state is failed: data length {states.Length} is wrong.");
return OperationState.None;
}
private RFMode ReadRFMode()
{
var device = ModbusTcpDevice;
if (device is null) return RFMode.None;
bool[] modes = device.ReadCoils(SetRFModeAddress, 3);
if (modes.Length == 3)
{
// Decode RF mode from one-hot encoded coils
if (modes[0]) return RFMode.Default;
else if (modes[1]) return RFMode.Maintenance;
else if (modes[2]) return RFMode.Override;
else return RFMode.None;
}
else Logger.Warning($"Read RF mode is failed: data length {modes.Length} is wrong.");
return RFMode.None;
}
}