AutoFocusTool/Serial/HouseMotor.cs

using System;

namespace AutoFocusTool.Serial
{
    /// <summary>
    /// 单舱室马达+光源的语义化控制接口。封装 Protocol+SerialMotor，
    /// 给 UI/对焦逻辑直接调。所有动作同步阻塞到下位机回复。
    ///
    /// 重要：移动是开环+固定延时（motorDelay），下位机回复只代表"收到指令"，
    /// 不代表机械停稳。每次移动后等 MotorDelayMs 再抓图，否则运动模糊。
    /// </summary>
    public class HouseMotor : IDisposable
    {
        private readonly SerialMotor _serial;

        /// <summary>电机到位延时(ms)，移动后等待机械稳定。真机标定，默认 1500。</summary>
        public int MotorDelayMs { get; set; } = 1500;

        public string PortName => _serial.PortName;
        public bool IsOpen => _serial.IsOpen;

        public Action<string> Log
        {
            get => _serial.Log;
            set => _serial.Log = value;
        }

        public HouseMotor(string portName)
        {
            _serial = new SerialMotor(portName);
        }

        public bool Open() => _serial.Open();
        public void Close() => _serial.Close();

        /// <summary>握手，返回下位机自报的 houseSn（失败 -1）。</summary>
        public int ShakeHands()
        {
            var r = _serial.Send(Protocol.ShakeHands());
            return r == null ? -1 : Protocol.ParseShakeHands(r);
        }

        /// <summary>读本舱绑定的相机序列号 CCDSN（EEPROM，int）。失败 -1。</summary>
        public int ReadCCDSN()
        {
            var r = _serial.Send(Protocol.GetCCDSN());
            return r == null ? -1 : Protocol.ParseEepromInt(r);
        }

        /// <summary>读 EEPROM 灯光亮度（只读）。失败 -1。</summary>
        public int ReadLightBrightness()
        {
            var r = _serial.Send(Protocol.ReadLightBrightness());
            return r == null ? -1 : Protocol.ParseEepromInt(r);
        }

        /// <summary>读第 wellNum(1-16) 个well的水平电机位置脉冲（EEPROM）。失败 -1。</summary>
        public int ReadWellHorizontalPos(int wellNum)
        {
            var r = _serial.Send(Protocol.ReadWellHorizontalPos(wellNum));
            return r == null ? -1 : Protocol.ParseEepromInt(r);
        }

        /// <summary>
        /// 转动培养皿到第 wellNum(1-16) 个well对准相机：读EEPROM该well位置 → 水平电机绝对运动过去。
        /// 返回该well的水平脉冲位置，失败 -1。
        /// </summary>
        public int RotateToWell(int wellNum)
        {
            int pos = ReadWellHorizontalPos(wellNum);
            if (pos < 0) { Log?.Invoke($"读well{wellNum}位置失败"); return -1; }
            bool ok = HorizontalMoveTo(pos);
            Log?.Invoke($"转到well{wellNum} 位置脉冲={pos} {(ok ? "OK" : "失败")}");
            return ok ? pos : -1;
        }

        /// <summary>读第 wellNum(1-16) 个well的Z对焦零点脉冲（EEPROM）。失败 -1。</summary>
        public int ReadWellFocusZero(int wellNum)
        {
            var r = _serial.Send(Protocol.ReadWellFocusZero(wellNum));
            return r == null ? -1 : Protocol.ParseEepromInt(r);
        }

        /// <summary>读垂直电机扫描间隔脉冲（每层Z步距，EEPROM）。失败 -1。</summary>
        public int ReadScanStep()
        {
            var r = _serial.Send(Protocol.ReadScanStep());
            return r == null ? -1 : Protocol.ParseEepromInt(r);
        }

        // ── 光源 ──
        public bool OpenLED() => _serial.Send(Protocol.OpenLED()) != null;
        public bool CloseLED() => _serial.Send(Protocol.CloseLED()) != null;

        // ── 垂直电机（Z=对焦轴）──
        /// <summary>Z 复位回零，等待 MotorDelayMs。</summary>
        public bool VerticalReset()
            => _serial.Send(Protocol.VerticalReset(), MotorDelayMs) != null;

        /// <summary>Z 绝对运动到指定脉冲，等待 MotorDelayMs 稳定。</summary>
        public bool VerticalMoveTo(int pulse)
            => _serial.Send(Protocol.VerticalAbsolute(pulse), MotorDelayMs) != null;

        /// <summary>Z 绝对运动，自定义稳定延时(ms)。扫描小步移动用短延时提速。</summary>
        public bool VerticalMoveTo(int pulse, int delayMs)
            => _serial.Send(Protocol.VerticalAbsolute(pulse), delayMs) != null;

        /// <summary>Z 相对正转 pulse 步。</summary>
        public bool VerticalForward(int pulse)
            => _serial.Send(Protocol.VerticalForward(pulse), MotorDelayMs) != null;

        /// <summary>Z 相对反转 pulse 步。</summary>
        public bool VerticalBackward(int pulse)
            => _serial.Send(Protocol.VerticalBackward(pulse), MotorDelayMs) != null;

        /// <summary>读 Z 当前位置脉冲。失败 -1。</summary>
        public int ReadVerticalPosition()
        {
            var r = _serial.Send(Protocol.ReadVerticalMotor());
            return r == null ? -1 : Protocol.ParseMotorPosition(r);
        }

        // ── 水平电机（皿孔定位）──
        public bool HorizontalReset()
            => _serial.Send(Protocol.HorizontalReset(), MotorDelayMs) != null;

        public bool HorizontalMoveTo(int pulse)
            => _serial.Send(Protocol.HorizontalAbsolute(pulse), MotorDelayMs) != null;

        /// <summary>水平绝对运动，自定义稳定延时(ms)。扫描小步移动用短延时提速。</summary>
        public bool HorizontalMoveTo(int pulse, int delayMs)
            => _serial.Send(Protocol.HorizontalAbsolute(pulse), delayMs) != null;

        public bool HorizontalForward(int pulse)
            => _serial.Send(Protocol.HorizontalForward(pulse), MotorDelayMs) != null;

        public bool HorizontalBackward(int pulse)
            => _serial.Send(Protocol.HorizontalBackward(pulse), MotorDelayMs) != null;

        public int ReadHorizontalPosition()
        {
            var r = _serial.Send(Protocol.ReadHorizontalMotor());
            return r == null ? -1 : Protocol.ParseMotorPosition(r);
        }

        public void Dispose() => _serial.Dispose();
    }
}