Sixdegreeoffreedomdynamicloadsimulationdevice/Service/ShakerService/ViewModel/ForceBalanceControlViewModel.cs

using IModel;
using Shaker.Models;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.CompilerServices;
using System.Text;
using System.Threading.Tasks;

namespace ShakerService.ViewModel
{
    internal sealed class ForceBalanceControlViewModel : ViewModelBase<ForceBalanceControlModel>
    {
        /// <summary>
        /// 水平力反馈增益
        /// </summary>
        public double HorizontalForceBalanceGain => CurrentModel.HorizontalForceBalanceGain;
        /// <summary>
        /// 竖直力反馈增益
        /// </summary>
        public double VerticalForceBalanceGain =>CurrentModel.VerticalForceBalanceGain;
        /// <summary>
        /// 合成矩阵
        /// </summary>
        public double[,] CompositionMatrix =>CurrentModel.CompositionMatrix;
        /// <summary>
        /// 自由度分解列矩阵
        /// </summary>
        public double[,] FreedomDecompositionMatrix =>CurrentModel.FreedomDecompositionMatrix;
        private ForceBalanceControlViewModel() : base()
        {

        }
        static ForceBalanceControlViewModel()
        {

        }
        private protected override void UpModel(ForceBalanceControlModel model)
        {
            if(model.CompositionMatrix==null || model.CompositionMatrix.Length!=16)
            {
                model.CompositionMatrix = new double[2, 8];
            }
            if(model.FreedomDecompositionMatrix ==null || model.FreedomDecompositionMatrix.Length!=16)
            {
                model.FreedomDecompositionMatrix = new double[8, 2];
            }
            base.UpModel(model);
        }
        private protected override void ReadModel()
        {
            base.ReadModel();
            Communication.Instance.DbConnection.CreateTable<ForceBalanceControlModel>();
            var model = Communication.Instance.DbConnection.Table<ForceBalanceControlModel>().FirstOrDefault() ?? new ForceBalanceControlModel();
            Communication.Instance.DbConnection.Execute($"CREATE TABLE IF NOT EXISTS {nameof(ForceBalanceControlModel.CompositionMatrix)} ({nameof(BaseModel.Id)} INTEGER PRIMARY KEY AUTOINCREMENT, Value REAL);");
            var compositionMatrix = Communication.Instance.DbConnection.Query<double>($"select Value from {nameof(ForceBalanceControlModel.CompositionMatrix)}")?.ToArray() ?? new double[16];
            if(compositionMatrix==null || compositionMatrix.Length!=16)
            {
                compositionMatrix = new double[16];
            }
            model.CompositionMatrix = new double[2, 8];
            Unsafe.CopyBlock(ref Unsafe.As<double, byte>(ref model.CompositionMatrix[0, 0]), ref Unsafe.As<double, byte>(ref compositionMatrix[0]), (uint)(Unsafe.SizeOf<double>() * compositionMatrix.Length));

            Communication.Instance.DbConnection.Execute($"CREATE TABLE IF NOT EXISTS {nameof(ForceBalanceControlModel.FreedomDecompositionMatrix)} ({nameof(BaseModel.Id)} INTEGER PRIMARY KEY AUTOINCREMENT, Value REAL);");
            var freedomDecompositionMatrix = Communication.Instance.DbConnection.Query<double>($"select Value from {nameof(ForceBalanceControlModel.FreedomDecompositionMatrix)}")?.ToArray() ?? new double[16];
            if (freedomDecompositionMatrix == null || freedomDecompositionMatrix.Length != 16)
            {
                freedomDecompositionMatrix = new double[16];
            }
            model.FreedomDecompositionMatrix = new double[8,2];
            Unsafe.CopyBlock(ref Unsafe.As<double, byte>(ref model.FreedomDecompositionMatrix[0, 0]), ref Unsafe.As<double, byte>(ref freedomDecompositionMatrix[0]), (uint)(Unsafe.SizeOf<double>() * freedomDecompositionMatrix.Length));
            CurrentModel = model;
            SaveModel();
        }
        private protected override void SaveModel()
        {
            base.SaveModel();
            Communication.Instance.DbConnection.DeleteAll<ForceBalanceControlModel>();
            Communication.Instance.DbConnection.Insert(CurrentModel);
            Communication.Instance.DbConnection.DeleteAll<double>(tableName: nameof(ForceBalanceControlModel.CompositionMatrix));
            for(int i=0;i<CurrentModel.CompositionMatrix.Length;i++)
            {
                Communication.Instance.DbConnection.Execute($"INSERT INTO {nameof(ForceBalanceControlModel.CompositionMatrix)} (Value) VALUES ({Unsafe.Add(ref CurrentModel.CompositionMatrix[0,0],i)});");
            }

            Communication.Instance.DbConnection.DeleteAll<double>(tableName: nameof(ForceBalanceControlModel.FreedomDecompositionMatrix));
            for (int i = 0; i < CurrentModel.FreedomDecompositionMatrix.Length; i++)
            {
                Communication.Instance.DbConnection.Execute($"INSERT INTO {nameof(ForceBalanceControlModel.FreedomDecompositionMatrix)} (Value) VALUES ({Unsafe.Add(ref CurrentModel.FreedomDecompositionMatrix[0, 0], i)});");
            }
        }
        public override void SetFpga()
        {
            base.SetFpga();
            ShakerFpga.ShakerFpga.Instance.水平力反馈增益.Value = HorizontalForceBalanceGain;
            ShakerFpga.ShakerFpga.Instance.竖直力反馈增益.Value = VerticalForceBalanceGain;
            ShakerFpga.ShakerFpga.Instance.合成矩阵.Value = [.. CompositionMatrix];
            ShakerFpga.ShakerFpga.Instance.自由度分解列矩阵.Value = [.. FreedomDecompositionMatrix];
        }
        public static ForceBalanceControlViewModel Instance { get; } = new ForceBalanceControlViewModel();
    }
}