Sixdegreeoffreedomdynamicloadsimulationdevice/Service/ShakerService/ViewModel/ServoConfigViewModel.cs

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

namespace ShakerService.ViewModel
{
    internal sealed class ServoConfigViewModel:ViewModelBase<ServoConfigModel>
    {
        private ServoConfigViewModel():base()
        {

        }
        static ServoConfigViewModel()
        {

        }
        private protected override void ReadModel()
        {
            base.ReadModel();
            Communication.Instance.DbConnection.CreateTable<ServoConfigModel>();
            var model = Communication.Instance.DbConnection.Table<ServoConfigModel>().FirstOrDefault() ?? new ServoConfigModel();
            Communication.Instance.DbConnection.CreateTable<PIModel>();
            model.PI = Communication.Instance.DbConnection.Table<PIModel>()?.ToList()?? new List<PIModel>();
            if(model.PI.Count>4)
            {
                model.PI.RemoveRange(4, model.PI.Count - 4);
            }
            else if(model.PI.Count<4)
            {
                model.PI.AddRange(Enumerable.Repeat(new PIModel(), 4 - model.PI.Count));
            }
            CurrentModel = model;
            SaveModel();
        }
        private protected override void SaveModel()
        {
            base.SaveModel();
            Communication.Instance.DbConnection.DeleteAll<ServoConfigModel>();
            Communication.Instance.DbConnection.Insert(CurrentModel);
            Communication.Instance.DbConnection.DeleteAll<PIModel>();
            Communication.Instance.DbConnection.InsertAll(CurrentModel.PI);
        }
        private protected override void UpModel(ServoConfigModel model)
        {
            if(model.PI ==null) model.PI = new List<PIModel>();
            if (model.PI.Count > 4)
            {
                model.PI.RemoveRange(4, model.PI.Count - 4);
            }
            else if (model.PI.Count < 4)
            {
                model.PI.AddRange(Enumerable.Repeat(new PIModel(), 4 - model.PI.Count));
            }
            base.UpModel(model);
        }
        public override void SetFpga()
        {
            base.SetFpga();
            ShakerFpga.ShakerFpga.Instance.P参数.Value = [.. PI.Select(x => x.P)];
            ShakerFpga.ShakerFpga.Instance.I参数.Value = [.. PI.Select(x => x.I)];

            ShakerFpga.ShakerFpga.Instance.水平阀死区电压.Value = HorizontalBarrierPotential;
            ShakerFpga.ShakerFpga.Instance.竖直阀死区电压.Value = VerticalBarrierPotential;

            ShakerFpga.ShakerFpga.Instance.最大积分电压.Value = MaxIntegratedVoltage;
            ShakerFpga.ShakerFpga.Instance.最大驱动电压.Value = MaxDriverVoltage;

            ShakerFpga.ShakerFpga.Instance.急停后驱动限幅值.Value = EmerhencyDriverLimitVoltage;
            ShakerFpga.ShakerFpga.Instance.位移前馈增益.Value = DisplacementFeedforwardGain;
            ShakerFpga.ShakerFpga.Instance.驱动超限电压.Value = DriverOverLimitVoltage;
        }
        public static ServoConfigViewModel Instance { get; } = new ServoConfigViewModel();
        public IReadOnlyList<PIModel> PI => CurrentModel.PI;
        /// <summary>
        /// 水平阀死区电压(V)
        /// </summary>
        public double HorizontalBarrierPotential => CurrentModel.HorizontalBarrierPotential;
        /// <summary>
        /// 竖直阀死区电压(V)
        /// </summary>
        public double VerticalBarrierPotential => CurrentModel.VerticalBarrierPotential;
        /// <summary>
        /// 最大积分电压(V)
        /// </summary>
        public double MaxIntegratedVoltage => CurrentModel.MaxIntegratedVoltage;
        /// <summary>
        /// 位移前馈增益
        /// </summary>

        public double DisplacementFeedforwardGain => CurrentModel.DisplacementFeedforwardGain;
        /// <summary>
        /// 最大驱动电压(V)
        /// </summary>
        public double MaxDriverVoltage => CurrentModel.MaxDriverVoltage;
        /// <summary>
        /// 驱动超限电压(V)
        /// </summary>
        public double DriverOverLimitVoltage => CurrentModel.DriverOverLimitVoltage;
        /// <summary>
        /// 急停后驱动限幅值(V)
        /// </summary>
        public double EmerhencyDriverLimitVoltage => CurrentModel.EmerhencyDriverLimitVoltage;
    }
}