TargetService/Script/Model/ModelTrackControl.cs

using System.Numerics;
using EGFramework;
using Tmds.Linux;

public class ModelTrackControl : EGModule, IEGFramework
{

    public int CurrentPosition { set; get; } = 0;
    private ushort LowSpeed { set; get; }
    private ushort Speed { set; get; }

    public int CurrentRotation { set; get; } = 0;
    public override void Init()
    {
        // List<string> portList = this.EGSerialPort().RefreshSerialPort();
        CurrentPosition = this.GetModule<ModelActionStatus>().Status.Position;
        CurrentRotation = this.GetModule<ModelActionStatus>().Status.Rotate;
        LowSpeed = (ushort)this.GetModule<ModelParamSetting>().Setting.MoveLowSpeed;
        Speed = (ushort)this.GetModule<ModelParamSetting>().Setting.MoveSpeed;
        ResetTarget();
    }

    public void StartTarget()
    {
        if (CurrentRotation != 90)
        {
            this.EGSendMessage(new RequestTargetControl(2000,500,false), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
            CurrentRotation = 90;
            this.GetModule<ModelActionStatus>().SetRotation(CurrentRotation);
        }
    }

    public void RevertTarget()
    {
        if (CurrentRotation != 0)
        {
            this.EGSendMessage(new RequestTargetControl(2000, 0, false), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
            CurrentRotation = 0;
            this.GetModule<ModelActionStatus>().SetRotation(CurrentRotation);
        }
    }
    public void ResetTarget()
    {
        if (CurrentRotation != 0)
        {
            this.EGSendMessage(new RequestTargetControl(2000, 500, true), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
            DelayClear();
        }
    }

    public async void DelayClear()
    {
        await Task.Delay(3000);
        this.EGSendMessage(new RequestTargetResetPosition(), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
        CurrentRotation = 0;
        this.GetModule<ModelActionStatus>().SetRotation(CurrentRotation);
    }

}

public enum StatusTrack
{
    Stop = 0x00,
    Start = 0x01,
    StartSlow = 0x02,
    Back = 0x03,
    BackSlow = 0x04,
    Reset = 0x05
}