aivfo-tl-3.0/ivf_tl_operate_2.0/control/ivf_tl_SerialHelper/Util/ComBin.cs

using IvfTl.Control.Entity;
using IvfTl.Control.Entity.GlobalEnums;
using ivf_tl_UtilHelper;
using System.Diagnostics;

namespace ivf_tl_SerialHelper.Util
{
    /// <summary>
    /// 封装指令发送以及解析线程
    /// </summary>
    public class ComBin
    {
        /// <summary>
        /// 异常日志
        /// 异常、名称、参数
        /// </summary>
        public event Action<Exception, string, string, LogEnum> ExceptionLogEvent;

        /// <summary>
        /// 错误日志
        /// </summary>
        public event Action<string, LogEnum> ErrorLogEvent;

        /// <summary>
        /// 指令记录日志
        /// </summary>
        public event Action<int, DateTime, string, LogEnum> CommandLogEvent;

        /// <summary>
        /// 串口状态
        /// </summary>
        public event Action<int> ComStateEvent;

        public ComBin(int houseId, string portName)
        {
            this.houseId = houseId;
            this.portName = portName;
            _commandQueue = new Queue<CustomProtocol>();
            _channel = new Channel(houseId, portName);
            _channel.DataReceived += _channel_DataReceived;
            _channel.ExceptionLogEvent += _channel_ExceptionLogEvent;
            _channel.ErrorLogEvent += _channel_ErrorLogEvent;
            _channel.CommandLogEvent += _channel_CommandLogEvent; ;
            StartSendCommandThread();
        }

        private void _channel_CommandLogEvent(int arg1, DateTime arg2, string arg3, LogEnum arg4)
        {
            CommandLogEvent?.Invoke(arg1, arg2, arg3, arg4);
        }

        private void _channel_ErrorLogEvent(string arg1, LogEnum arg2)
        {
            ErrorLogEvent?.Invoke(arg1, arg2);
        }

        private void _channel_ExceptionLogEvent(Exception arg1, string arg2, string arg3, LogEnum arg4)
        {
            ExceptionLogEvent?.Invoke(arg1, arg2, arg3, arg4);
        }

        public Channel _channel { get; set; } = null;

        /// <summary>
        /// 是否停止发送指令线程循环
        /// </summary>
        public bool IsStop = false;

        /// <summary>
        /// 指令发送失败以后是否无限重发
        /// </summary>
        public bool IsStopWhile = true;

        private int houseId = 0;

        private string portName = null;

        /// <summary>
        /// 命令队列
        /// </summary>
        private Queue<CustomProtocol> _commandQueue;

        /// <summary>
        /// 指令超时重发等待毫秒
        /// </summary>
        private int milliseconds = 1000 * 30;

            /// <summary>
            /// 发送指令的线程同步控制器
            /// </summary>
            private AutoResetEvent sendAutoResetEvent = new AutoResetEvent(false);

            /// <summary>
            /// 运行线程等待指令的同步控制器
            /// </summary>
            private AutoResetEvent taskAutoResetEvent = new AutoResetEvent(false);

        /// <summary>
        /// 指令发送锁
        /// </summary>
        private object SendCommandLock = new object();

        /// <summary>
        /// 指令计数
        /// </summary>
        private double commandNumber = 1;

        /// <summary>
        /// 串口状态 0正常 1异常
        /// </summary>
        private int ComState = -1;

        /// <summary>
        /// 开启发送指令线程
        /// </summary>
        public void StartSendCommandThread()
        {
            Task.Factory.StartNew(() =>
            {
                Stopwatch SendStopWatch = new Stopwatch();
                CustomProtocol customProtocol = null;
                while (true)
                {
                    try
                    {
                        if (IsStop)
                        {
                            return;
                        }
                        lock (_commandQueue)
                        {
                            if (_commandQueue.Any())
                            {
                                customProtocol = _commandQueue.Dequeue();
                            }
                        }
                        if (customProtocol != null)
                        {
                            SendStopWatch.Restart();

                            string Content = $"[{houseId}][{portName}][{customProtocol.commandNumber}][{customProtocol.commandType}][Send:{StringHelper.ByteToHexStr(customProtocol.sendBuffer)}]";

                            customProtocol.IsSuccess = SendCommand(customProtocol, Content);

                            string Content11 = $"{Content}[Rec:{StringHelper.ByteToHexStr(customProtocol.receivedBuffer)}]";

                            if (customProtocol.WaitTime != 0)
                            {
                                CommandLogEvent?.Invoke(houseId, DateTime.Now, $"{Content11}[等待{customProtocol.WaitTime}毫秒]", LogEnum.HouseComRecord);
                                Thread.Sleep(customProtocol.WaitTime);
                            }

                            CommandLogEvent?.Invoke(houseId, DateTime.Now, $"{Content11}[本轮指令总耗时:{StringHelper.TimeToString(SendStopWatch.Elapsed)}][End]", LogEnum.HouseComRecord);

                            SendStopWatch.Stop();
                            if (customProtocol.IsWaitOne)
                            {
                                taskAutoResetEvent.Set();
                            }
                            customProtocol = null;
                        }
                        else
                        {
                            //CommandLogEvent?.Invoke(houseId, DateTime.Now, $"空指令，等待50毫秒", LogEnum.HouseComRecord);
                            Thread.Sleep(50);
                        }
                    }
                    catch (Exception ex)
                    {
                        ExceptionLogEvent?.Invoke(ex, $"[{houseId}][{portName}]指令发送线程", null, LogEnum.RunException);
                    }
                }
            }, TaskCreationOptions.LongRunning);
        }

        /// <summary>
        /// 指令发送
        /// </summary>
        /// <param name="customProtocol"></param>
        /// <param name="Content"></param>
        private bool SendCommand(CustomProtocol customProtocol, string Content)
        {
            try
            {
                //超时重发3次后表示通讯中断
                var result = false;
                bool isopen = true;
                bool sendRs = false;
                do
                {
                    for (int i = 0; i < 3; i++)
                    {
                        if (isopen)
                        {
                            sendRs = _channel.Send(customProtocol);
                            CommandLogEvent?.Invoke(houseId, DateTime.Now, $"{Content}[第{i + 1}次发送结果:{sendRs}]", LogEnum.HouseComRecord);
                        }
                        if (sendRs)
                        {
                            result = sendAutoResetEvent.WaitOne(milliseconds);//延时等待下位机回复
                            if (result)
                            {
                                break;
                            }
                            else
                            {
                                sendRs = false;
                                CommandLogEvent?.Invoke(houseId, DateTime.Now, $"{Content}第{i + 1}次等待超时", LogEnum.HouseComRecord);
                                ErrorLogEvent?.Invoke($"{Content}第{i + 1}次等待超时", LogEnum.RunError);

                                if (i != 2)
                                {
                                    isopen = _channel.ReopenPort();
                                    CommandLogEvent?.Invoke(houseId, DateTime.Now, $"{Content}[第{i + 1}次重新打开串口结果:{isopen}]", LogEnum.HouseComRecord);
                                    if (!isopen)
                                    {
                                        ErrorLogEvent?.Invoke($"{Content}第{i + 1}次重新打开串口失败", LogEnum.RunError);
                                    }
                                }
                            }
                        }
                        else
                        {
                            ErrorLogEvent?.Invoke($"{Content}第{i + 1}次发送失败", LogEnum.RunError);
                            if (i != 2)
                            {
                                Thread.Sleep(milliseconds);
                                isopen = _channel.ReopenPort();
                                CommandLogEvent?.Invoke(houseId, DateTime.Now, $"{Content}[第{i + 1}次重新打开串口结果:{isopen}]", LogEnum.HouseComRecord);
                                if (!isopen)
                                {
                                    ErrorLogEvent?.Invoke($"{Content}第{i + 1}次重新打开串口失败", LogEnum.RunError);
                                }
                            }
                        }
                    }
                    //ErrorLogEvent?.Invoke($"{result}、{IsStopWhile}", LogEnum.RunError);
                    if (!result && !IsStopWhile)
                    {
                        return false;
                    }
                    ComlossAlarm(result);
                } while (!result);
                return true;
            }
            catch (Exception ex)
            {
                ExceptionLogEvent?.Invoke(ex, $"{Content}指令发送", null, LogEnum.RunException);
                return false;
            }
        }

        private void _channel_DataReceived(CustomProtocol obj)
        {
            sendAutoResetEvent.Set();
        }

        /// <summary>
        /// 发送封装
        /// </summary>
        /// <param name="custom"></param>
        private void Enqueue(CustomProtocol custom)
        {
            lock (_commandQueue)
            {
                _commandQueue.Enqueue(custom);
            }
        }

        public bool OpenPort()
        {
            bool ok = _channel.OpenPort();
            // 借用复用死锁修复(D1-08):HAL.ScanDevices 扫描每口后经 SerialChannelImpl.Close() 置 IsStop=true,
            // 令发送线程 while(IsStop)return 永久退出;采集端 serialBin.Start() 随后借用同一缓存 ComBin、
            // 直接调本方法重开端口(返回 True)再 ShakeHandsWait 入队握手指令,但发送线程已死、无人出队处理,
            // ShakeHandsWait 的 taskAutoResetEvent.WaitOne()(无超时)→ 永久死锁(旧合并 operate 僵尸即卡此)。
            // 故:重开端口成功且发送线程处于停止态时,复位 IsStop 并重启发送线程(SendCommandLock 防并发双起)。
            if (ok)
            {
                lock (SendCommandLock)
                {
                    if (IsStop)
                    {
                        IsStop = false;
                        StartSendCommandThread();
                    }
                }
            }
            return ok;
        }

        public bool ClosePort()
        {
            return _channel.ClosePort();
        }

        /// <summary>
        /// 通讯报警
        /// </summary>
        /// <param name="result"></param>
        public void ComlossAlarm(bool result)
        {
            if(!result)
            {
                if(ComState != 1)
                {
                    ComState = 1;
                    ComStateEvent?.Invoke(1);
                }
                return;
            }
            if (ComState == 0) return;
            ComState = 0;
            ComStateEvent?.Invoke(0);
        }

        #region 仓室状态

        /// <summary>
        /// 握手指令
        /// </summary>
        public int ShakeHandsWait(CustomProtocol custom)
        {
            //握手
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.commandType = Enums.ShakeHands;
            custom.CreateHandCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (!custom.IsSuccess) return -1;
            return Analysiser.ParseShakeHandsCommand(custom.receivedBuffer);
        }

        /// <summary>
        ///  读仓门状态
        /// </summary>
        /// <param name="custom"></param>
        /// <returns></returns>
        public State DoorStatusWait(CustomProtocol custom)
        {
            custom.commandType = Enums.DoorStatus;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateReadDoorCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (!custom.IsSuccess) return State.未知;
            return Analysiser.ParseDoorStatus(custom.receivedBuffer);
        }

        /// <summary>
        /// 仓室温度
        /// </summary>
        /// <param name="custom"></param>
        /// <returns></returns>
        public decimal TemperatureWait(CustomProtocol custom)
        {
            custom.commandType = Enums.Temperature;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateReadTemperatureCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (!custom.IsSuccess) return -1m;
            return Analysiser.ParseTemperatureCommand(custom.receivedBuffer);
        }

        /// <summary>
        /// 上盖板温度
        /// </summary>
        /// <param name="custom"></param>
        /// <returns></returns>
        public decimal ShangTemperatureWait(CustomProtocol custom)
        {
            custom.commandType = Enums.Temperature;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateReadShangTemperatureCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (!custom.IsSuccess) return -1m;
            return Analysiser.ParseTemperatureCommand(custom.receivedBuffer);
        }

        /// <summary>
        /// 玻璃片下方温度
        /// </summary>
        /// <param name="custom"></param>
        /// <returns></returns>
        public decimal BoLiTemperatureWait(CustomProtocol custom)
        {
            custom.commandType = Enums.BoLiTemperature;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateReadBoLiTemperatureCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (!custom.IsSuccess) return -1m;
            return Analysiser.ParseTemperatureCommand(custom.receivedBuffer);
        }

        /// <summary>
        /// 仓室压力
        /// </summary>
        /// <param name="custom"></param>
        /// <returns></returns>
        public decimal PressureWait(CustomProtocol custom)
        {
            custom.commandType = Enums.Pressure;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateReadPressureCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (!custom.IsSuccess) return -1m;
            return Analysiser.ParsePressureCommand(custom.receivedBuffer);
        }

        /// <summary>
        /// 获取缓冲瓶状态
        /// </summary>
        /// <returns></returns>
        public (decimal, decimal, decimal) BufferBottleState(CustomProtocol custom)
        {
            custom.commandType = Enums.BufferBottlePressure;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateBufferBottlePressureCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (!custom.IsSuccess) return (-1m,-1m,-1m);
            return (Analysiser.ParsePressureCommand(custom.receivedBuffer), Analysiser.ParseTLTemperature1Command(custom.receivedBuffer), Analysiser.ParseTLTemperature2Command(custom.receivedBuffer));
        }
        #endregion

        #region 电机

        /// <summary>
        /// 水平电机复位
        /// </summary>
        /// <param name="custom"></param>
        /// <param name="waitTime"></param>
        public bool HorizontalMotorResetWait(CustomProtocol custom, int waitTime)
        {
            custom.commandType = Enums.HorizontalMotorReset;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateHorizontalMotorResetCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (waitTime > 0)
            {
                Thread.Sleep(waitTime);
            }
            return custom.IsSuccess;
        }

        /// <summary>
        /// 水平电机绝对运动
        /// </summary>
        /// <param name="custom"></param>
        /// <param name="waitTime"></param>
        /// <param name="zero"></param>
        /// <param name="newValue"></param>
        public bool HorizontalMotorAbsoluteWait(CustomProtocol custom, int waitTime, int newValue)
        {
            custom.commandType = Enums.HorizontalMotorAbsolute;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.HorizontalMotorPulse = newValue;
            custom.CreateHorizontalMotorMoveToCommand(newValue);
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (waitTime > 0)
            {
                Thread.Sleep(waitTime);
            }
            return custom.IsSuccess;
        }

        /// <summary>
        /// 水平电机正向运动（相对）
        /// 忠实搬运 operate 侧 ComBin.HorizontalMotorForwardWait（命令构造器 control 侧已存在）。
        /// </summary>
        public bool HorizontalMotorForwardWait(CustomProtocol custom, int waitTime, int newValue)
        {
            custom.commandType = Enums.HorizontalMotorForward;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.HorizontalMotorPulse = newValue;
            custom.CreateHorizontalMotorForwardCommand(newValue);
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (waitTime > 0)
            {
                Thread.Sleep(waitTime);
            }
            return custom.IsSuccess;
        }

        /// <summary>
        /// 水平电机反向运动（相对）
        /// 忠实搬运 operate 侧 ComBin.HorizontalMotorBackward（命令构造器 control 侧已存在）。
        /// </summary>
        public bool HorizontalMotorBackwardWait(CustomProtocol custom, int waitTime, int newValue)
        {
            custom.commandType = Enums.HorizontalMotorBackward;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.HorizontalMotorPulse = newValue;
            custom.CreateHorizontalMotorBackwardCommand(newValue);
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (waitTime > 0)
            {
                Thread.Sleep(waitTime);
            }
            return custom.IsSuccess;
        }

        /// <summary>
        /// 读水平电机位置
        /// </summary>
        public int ReadHorizontalMotorWait(CustomProtocol custom)
        {
            custom.commandType = Enums.ReadHorizontalMotor;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateReadHorizontalMotorCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (!custom.IsSuccess) return -1;
            return Analysiser.ParseCurrentMotor(custom.receivedBuffer);
        }

        /// <summary>
        /// 读垂直电机位置
        /// </summary>
        public int ReadVerticalMotorWait(CustomProtocol custom)
        {
            custom.commandType = Enums.ReadVerticalMotor;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateReadVerticalMotorCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (!custom.IsSuccess) return -1;
            return Analysiser.ParseCurrentMotor(custom.receivedBuffer);
        }

        /// <summary>
        /// 垂直电机复位
        /// </summary>
        public bool VerticalMotorResetWait(CustomProtocol custom, int waitTime)
        {
            custom.commandType = Enums.VerticalMotorReset;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateVerticalMotorResetCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (waitTime > 0)
            {
                Thread.Sleep(waitTime);
            }
            return custom.IsSuccess;
        }

        /// <summary>
        /// 垂直电机绝对运动
        /// </summary>
        /// <param name="custom">指令对象</param>
        /// <param name="waitTime">电机运动等待时间</param>
        /// <param name="currentVer">垂直电机目标位置</param>
        /// <param name="currentHor">当前水平电机位置</param>
        /// <param name="pictureId">图片编号</param>
        /// <param name="well">当前well</param>
        /// <param name="focal">当前层数</param>
        public bool VerticalMotorAbsoluteWait(CustomProtocol custom, int waitTime, int currentVer, int currentHor, int pictureId, int well, int focal)
        {
            custom.commandType = Enums.VerticalMotorAbsolute;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.VerticalMotorPulse = currentVer;
            custom.HorizontalMotorPulse = currentHor;
            custom.pictureId = pictureId;
            custom.well = well;
            custom.focal = focal;
            custom.CreateVerticalMotorAbsoluteMovementCommand(currentVer);
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (waitTime > 0)
            {
                Thread.Sleep(waitTime);
            }
            return custom.IsSuccess;
        }

        /// <summary>
        /// 垂直电机正向运动（相对）
        /// 忠实搬运 operate 侧 ComBin.VerticalMotorForwardWait（命令构造器 control 侧已存在）。
        /// </summary>
        public bool VerticalMotorForwardWait(CustomProtocol custom, int waitTime, int newValue)
        {
            custom.commandType = Enums.VerticalMotorForward;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateVerticalMotorForwardCommand(newValue);
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (waitTime > 0)
            {
                Thread.Sleep(waitTime);
            }
            return custom.IsSuccess;
        }

        /// <summary>
        /// 垂直电机反向运动（相对）
        /// 忠实搬运 operate 侧 ComBin.VerticalMotorBackwardWait（命令构造器 control 侧已存在）。
        /// </summary>
        public bool VerticalMotorBackwardWait(CustomProtocol custom, int waitTime, int newValue)
        {
            custom.commandType = Enums.VerticalMotorBackward;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateVerticalMotorBackwardCommand(newValue);
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (waitTime > 0)
            {
                Thread.Sleep(waitTime);
            }
            return custom.IsSuccess;
        }
        #endregion

        #region 控制
        /// <summary>
        /// 自动换气开关
        /// 忠实搬运 operate 侧 ComBin.AutoWait（命令构造器/枚举 control 侧本任务已补）。
        /// </summary>
        public bool AutoWait(CustomProtocol custom, bool auto)
        {
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.commandType = Enums.AutoAirSwap;
            custom.CreateAutoCommand(auto);
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (!custom.IsSuccess) return false;
            return custom.receivedBuffer[custom.lenght - 2] == 0;
        }

        /// <summary>
        /// 仓室补气
        /// </summary>
        /// <param name="custom"></param>
        public bool HouseAerationWait(CustomProtocol custom)
        {
            custom.commandType = Enums.HouseAeration;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateHouseAerationCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            return custom.IsSuccess;
        }

        /// <summary>
        /// 仓室排气
        /// </summary>
        /// <param name="custom"></param>
        public bool HouseVentWait(CustomProtocol custom)
        {
            custom.commandType = Enums.HouseVent;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateHouseVentCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            return custom.IsSuccess;
        }

        /// <summary>
        /// 缓冲瓶补气
        /// </summary>
        /// <param name="custom"></param>
        public bool BufferBottleAerationWait(CustomProtocol custom)
        {
            custom.commandType = Enums.BufferBottleAeration;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateBufferBottleAerationCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            return custom.IsSuccess;
        }

        /// <summary>
        /// 关闭仓室进气阀
        /// </summary>
        /// <param name="custom"></param>
        /// <param name="waitTime"></param>
        public bool CloseIntakeValveWait(CustomProtocol custom, int waitTime)
        {
            custom.commandType = Enums.CloseIntakeValve;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateCloseIntakeValveCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (waitTime > 0)
            {
                Thread.Sleep(waitTime);
            }
            return custom.IsSuccess;
        }

        /// <summary>
        /// 打开仓室排气阀
        /// </summary>
        /// <param name="custom"></param>
        public bool OpenExhaustValveWait(CustomProtocol custom, int waitTime)
        {
            custom.commandType = Enums.OpenExhaustValve;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateOpenExhaustValveCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (waitTime > 0)
            {
                Thread.Sleep(waitTime);
            }
            return custom.IsSuccess;
        }

        /// <summary>
        /// 打开舱室进气阀
        /// </summary>
        /// <param name="custom"></param>
        /// <param name="waitTime"></param>
        /// <returns></returns>
        public bool OpenIntakeValveWait(CustomProtocol custom, int waitTime)
        {
            custom.commandType = Enums.OpenIntakeValve;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateOpenIntakeValveCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (waitTime > 0)
            {
                Thread.Sleep(waitTime);
            }
            return custom.IsSuccess;
        }

        /// <summary>
        /// 关闭排气阀
        /// </summary>
        /// <param name="custom"></param>
        /// <param name="waitTime"></param>
        public void CloseExhaustValveWait(CustomProtocol custom, int waitTime)
        {
            custom.commandType = Enums.CloseExhaustValve;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateCloseExhaustValveCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (waitTime > 0)
            {
                Thread.Sleep(waitTime);
            }
        }

        /// <summary>
        /// 打开LEd灯
        /// </summary>
        /// <param name="custom"></param>
        public void OpenLEDWait(CustomProtocol custom)
        {
            custom.commandType = Enums.OpenLED;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateOpenLEDCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
        }

        /// <summary>
        /// 关闭Led灯
        /// </summary>
        /// <param name="custom"></param>
        public void CloseLEDWait(CustomProtocol custom)
        {
            custom.commandType = Enums.CloseLED;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateCloseLEDCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
        }
        #endregion

        #region 参数

        /// <summary>
        /// 读取TL仪器编号
        /// </summary>
        public int ReadTLNumWait(CustomProtocol custom)
        {
            custom.commandType = Enums.ReadTLNum;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateReadTLNumCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (!custom.IsSuccess) return -1;
            return Analysiser.ParseEEPROMPulse(custom.receivedBuffer);
        }

        /// <summary>
        /// 获取CCDSN
        /// </summary>
        public int GetCCDSNWait(CustomProtocol custom)
        {
            custom.commandType = Enums.GetCCDSN;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateGetModuleCommand();
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (!custom.IsSuccess) return -1;
            return Analysiser.ParseEEPROMPulse(custom.receivedBuffer);
        }

        /// <summary>
        /// 读E方-->水平电机位置
        /// </summary>
        public int ReadEEPROMhoriMtWellHorHorWait(CustomProtocol custom,int horIndex)
        {
            custom.commandType = Enums.ReadEEPROMhoriMtWellHor;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateReadEEPROMhoriMtWellHoriPos(horIndex);
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (!custom.IsSuccess) return -1;
            return Analysiser.ParseEEPROMPulse(custom.receivedBuffer);
        }

        /// <summary>
        /// 读E方-->垂直电机清晰位置(Z对焦零点)。well=1..16 选该 well 的 EEPROM 槽(地址 0x08+4*(well-1));
        /// 默认 well=1 保持舱级单值老调用(SerialBin eepromClearPosition)行为不变。
        /// M-06:builder 早已支持 case 1-16,此前硬编码 (1) 致 ReadWellFocusZeroWait 忽略 well 恒读 well-1;
        /// 真机实证各 well 焦点零点 EEPROM 真分槽且不同(舱8/舱9 raw 抓包),改为按 well 读。
        /// </summary>
        /// <returns></returns>
        public int ReadEEPROMvertMtStartPulseWait(CustomProtocol custom, int well = 1)
        {
            custom.commandType = Enums.ReadEEPROMvertMtStartPulse;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateReadEEPROMvertMtStartPulse(well);
            custom.IsWaitOne = true;
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (!custom.IsSuccess) return -1;
            return Analysiser.ParseEEPROMPulse(custom.receivedBuffer);
        }

        /// <summary>
        /// 读E方-->垂直电机间隔脉冲
        /// </summary>
        /// <returns></returns>
        public int ReadEEPROMvertMtScanPluseWait(CustomProtocol custom)
        {
            custom.commandType = Enums.ReadEEPROMvertMtScanPluse;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.IsWaitOne = true;
            custom.CreateReadEEPROMvertMtScanPluse();
            Enqueue( custom);//断层扫描间隔数
            taskAutoResetEvent.WaitOne();
            if (!custom.IsSuccess) return -1;
            return Analysiser.ParseEEPROMPulse(custom.receivedBuffer);
        }

        /// <summary>
        /// 读E方-->仓室进气阀打开时间
        /// </summary>
        /// <returns></returns>
        public int ReadEEPROOpenIntakeTimeWait(CustomProtocol custom)
        {
            custom.commandType = Enums.ReadEEPROOpenIntakeTime;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.IsWaitOne = true;
            custom.CreateReadEEPROOpenIntakeTimeCommand();
            Enqueue( custom);
            taskAutoResetEvent.WaitOne();
            if (!custom.IsSuccess) return -1;
            return Analysiser.ParseEEPROMPulse(custom.receivedBuffer);
        }

        /// <summary>
        /// 读E方-->缓冲瓶进气阀打开时间
        /// </summary>
        /// <returns></returns>
        public int ReadEEPROOpenIntakeTimeBufferWait(CustomProtocol custom)
        {
            custom.commandType = Enums.ReadEEPROOpenIntakeTime;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.IsWaitOne = true;
            custom.CreateReadEEPROOpenIntakeTimeBufferCommand();
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (!custom.IsSuccess) return -1;
            return Analysiser.ParseEEPROMPulse(custom.receivedBuffer);
        }

        /// <summary>
        /// 读E方-->下加热板目标温度
        /// </summary>
        /// <returns></returns>
        public decimal ReadTargetTempWait(CustomProtocol custom)
        {
            custom.commandType = Enums.ReadTargetTemp;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.CreateReadTargetTemp();
            custom.IsWaitOne = true;
            Enqueue( custom);
            taskAutoResetEvent.WaitOne();
            if (!custom.IsSuccess) return -1m;
            var num =  Analysiser.ParseEEPROMPulse(custom.receivedBuffer);
            return Math.Round(num / 100.00m, 2, MidpointRounding.AwayFromZero);
        }

        /// <summary>
        /// 读E方-->灯光亮度
        /// </summary>
        /// <returns></returns>
        public int ReadEEPROMLightNumWait(CustomProtocol custom)
        {
            custom.commandType = Enums.ReadLightNum;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.IsWaitOne = true;
            custom.CreateReadEEPROMLightNum();
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (!custom.IsSuccess) return -1;
            return Analysiser.ParseEEPROMPulse(custom.receivedBuffer);
        }

        // ── M1-B2 写E方调试动作包装（operate 调试页接入 lease.Serial 走本类，杜绝调试页 new ComBin/开第二个物理口）──
        // 字节级一致性：T1.1 子代理已逐字节核实下列 4 个 Create* builder 与 operate 端完全相同
        //   （命令码 0x12 + 相同 well 地址表/固定地址 + 小端 pulse + 同 CreateORC 校验），故发送字节安全。
        // ⚠ 待真机(V-010)：写E方为破坏性操作；control 端 CustomProtocolLength 对 0x12 期望回包长度与 operate 不同，
        //   "写成功判定/回包等待"语义需真机核对（不影响发出的命令字节）。WriteEEPROOpenVentTime/WriteLightNum
        //   因 control Commander 缺对应 builder，未在此补——调试页对应动作保留旧路径并标注待真机，不臆造字节。

        /// <summary>写E方→第 wellSn(1-16) 水平电机位置脉冲（命令 0x12，builder 与 operate 逐字节一致）。⚠ 待真机 V-010。</summary>
        public void WriteEEPROMhoriMtWellHorHorWait(CustomProtocol custom, int wellSn, int newValue)
        {
            custom.commandType = Enums.WriteEEPROMhoriMtWell1HoriPos;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.IsWaitOne = true;
            custom.CreateWriteEEPROMhoriMtWellHoriPos(wellSn, newValue);
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            return;
        }

        /// <summary>写E方→垂直电机扫描间隔脉冲（builder 与 operate 逐字节一致）。⚠ 待真机 V-010。</summary>
        public void WriteEEPROMvertMtScanPluseWait(CustomProtocol custom, int newValue)
        {
            custom.commandType = Enums.WriteEEPROMvertMtScanPluse;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.IsWaitOne = true;
            custom.CreateWriteEEPROMvertMtScanPluse(newValue);
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            return;
        }

        /// <summary>写E方→舱室进气阀打开时间（builder 与 operate 逐字节一致，地址 00 03 0c）。⚠ 待真机 V-010。</summary>
        public void WriteEEPROOpenIntakeTimeWait(CustomProtocol custom, int newValue)
        {
            custom.commandType = Enums.WriteEEPROOpenIntakeTime;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.IsWaitOne = true;
            custom.CreateWriteEEPROOpenIntakeTimeCommand(newValue);
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            return;
        }

        /// <summary>写E方→缓冲瓶进气阀打开时间（builder 与 operate 逐字节一致，地址 00 05 0c）。⚠ 待真机 V-010。</summary>
        public void WriteEEPROOpenIntakeTimeBufferWait(CustomProtocol custom, int newValue)
        {
            custom.commandType = Enums.WriteEEPROOpenIntakeTime;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.IsWaitOne = true;
            custom.CreateWriteEEPROOpenIntakeTimeBufferCommand(newValue);
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            return;
        }

        // ── M-01/M-02/M-03 补齐:排气阀时间写/读、灯光亮度写(builder 与 operate 逐字节一致)──

        /// <summary>写E方→舱室排气阀打开时间(M-01,builder 地址 00 03 08,与 operate 一致)。⚠ 待真机 V-010。</summary>
        public void WriteEEPROOpenVentTimeWait(CustomProtocol custom, int newValue)
        {
            custom.commandType = Enums.WriteEEPROOpenVentTime;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.IsWaitOne = true;
            custom.CreateWriteEEPROOpenVentTimeCommand(newValue);
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            return;
        }

        /// <summary>读E方→舱室排气阀打开时间(M-02,builder 地址 00 03 08)。失败返回 -1。</summary>
        public int ReadEEPROMVentWait(CustomProtocol custom)
        {
            custom.commandType = Enums.ReadEEPROOpenVentTime;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.IsWaitOne = true;
            custom.CreateReadEEPROMVentNum();
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            if (!custom.IsSuccess) return -1;
            return Analysiser.ParseEEPROMPulse(custom.receivedBuffer);
        }

        /// <summary>写E方→灯光亮度(M-03,builder 地址 00 05 34,与 operate 一致)。⚠ 待真机 V-010。</summary>
        public void WriteEEPROMLightNumWait(CustomProtocol custom, int newValue)
        {
            custom.commandType = Enums.WriteLightNum;
            custom.logDateTime = DateTime.Now;
            custom.commandNumber = commandNumber++;
            custom.IsWaitOne = true;
            custom.CreateWriteEEPROMLightNum(newValue);
            Enqueue(custom);
            taskAutoResetEvent.WaitOne();
            return;
        }
        #endregion

        #region 调试模式
        #endregion
    }
}