var array = new[]
{
1, 2, 3, 4, 5, 6
};
var res = array.Slice(1, 3);
判断元素是否在数组内部
var array = new[]
{
1, 2, 3, 4, 5, 6
};
var judge = 3;
var isIn = judge.IsIn(array);
数组内容合并为字符串
var array = new[]
{
1, 2, 3, 4, 5, 6
};
var res = array.JoinAsString(",");
//res = "1,2,3,4,5,6"
WhereIf筛选
var array = new[]
{
1, 2, 3, 4, 5, 6
};
var condition = array.Length >= 2;
var res = array.WhereIf(condition, i => i > 2).ToList();
Palink.Tools.Extensions.AttributeExt
获取枚举Description
public enum MyEnum
{
[Description("none")]
None,
[Description("text")]
Test
}
var myEnum = MyEnum.None.EnumDescription();
Palink.Tools.Extensions.ConvertExt
类型转换
//类型转换
var test = "1.22";
var noByte = test.ToByte();
var noInt = test.ToInt();
var noLong = test.ToLong();
var noDouble = test.ToDouble();
var noDecimal = test.ToDecimal();
var noFloat = test.ToFloat();
var noBool = test.ToBool();
//To与As
noInt = test.To<int>();
test = noInt.As<string>();
//时间类型转换
var dateString = "2022-10-22 12:00:00";
var date = dateString.ToDateTime("yyyy-MM-dd HH:mm:ss");
dateString = date.ToDateString("yyyy/MM/dd");
//枚举转List
var enumList = typeof(MyEnum).TryToList();
//枚举转键值对(枚举为Key，描述为Value)
MyEnum.None.ToDic();
Palink.Tools.Extensions.NetExt
Ping
var resBool = "192.168.7.33".Ping();
HttpClient发送与接收Json
//post
var http = new HttpClient();
http.PostAsJsonAsync("http://127.0.0.1", "json类型", default);
//put
var http = new HttpClient();
httpPutAsJsonAsync("http://127.0.0.1", "json类型", default);
//get
http.GetFromJsonAsync<string>("http://127.0.0.1", default);
Palink.Tools.Extensions.ObjectExt
对象判断
var app = new App();
var res = app.IsNull();
res = app.NotNull();
//条件判断
app.If(app.NotNull(), app1 =>
{
app.Run();
});
//获取属性的DisplayName与Description
app.Name.PropertyDescription();
app.Name.PropertyDisplayName();
Palink.Tools.Extensions.RandomExt
var r = new Random();
r.StrictNext();//真正随机数
r.NextGauss();//高斯随机数
Palink.Tools.Extensions.ReflectionExt
var app = new App();
//克隆
var appClone = app.DeepClone();
//获取字段
var f = appClone.GetField<string>("fieldName");
//设置字段
appClone.SetField("fieldName", "value")
//获取属性
var p = appClone.GetProperty<string>("propertyName");
//设置属性
appClone.SetProperty("propertyName", "value");
//实例化对象
var newApp = typeof(App).GetInstance<App>();
//JSON
var json = (new App()).ToJson();
var app = json.FromJson<App>(json);
//字符串序列化
var str = "12121";
var data = str.SerializeUtf8();
str = data.DeserializeUtf8();
Palink.Tools.Extensions.StringExt
空判断
var str = "";
str.IsNullOrEmpty();
str.IsNullOrWhiteSpace();
str.IsNotNullOrEmpty();
str.IsNotNullOrWhiteSpace();
var str = "abcdef";
str.Slice(1,3);
str.TryReplace("a", "m");
str.RegexReplace("^[0-9]*$", "");
格式化
var format = "a_{0}_{1}"
format.FormatWith("b", "c")
Palink.Tools.Extensions.TimeExt
常用
var date = DateTime.Now;
date.GetWeekAmount(); //获取某一年有多少周
date.WeekOfYear(); //返回年度第几个星期 默认星期日是第一天
date.WeekOfYear(DayOfWeek.Monday); //返回年度第几个星期, 可以设置周一是哪天
date.GetWeekTime(2022, 13, out var start, out var end); //得到一年中的某周的起始日和截止日
date.GetWeekWorkTime(2022, 13, out var start, out var end); //得到一年中的某周的起始日和截止日 周一到周五 工作日
date.SetLocalTime(); //设置本地计算机系统时间，仅支持Windows系统
格林威治时间(1970)、北京时间
var date = DateTime.Now;
var long1 = date.BeijingTimeToUnixTimeStamp10(); //北京时间转换成unix时间戳(10位/秒)
var long2 = date.UtcTimeToUnixTimeStamp10(); //格林威治时间转换成unix时间戳(10位/秒)
var date1 = long1.UnixTimeStamp10ToBeijingTime(); //10位unix时间戳转换成北京时间
var date2 = long2.UnixTimeStamp10ToUtcTime(); // 10位unix时间戳转换成格林威治
...
Palink.Tools.Extensions.ValidationExt
CRC
var bytes = new byte[]{1,2,3,4,5,6,crc_h,crc_l};
var boolRes = bytes.DoesCrcMatch();
var crc = bytes.Slice(0, 6).ToAarray().GetCrc();
public void ChineseCalendarTest()
{
var calendar = new ChineseCalendar(new DateTime(1993, 5, 9));
var animal = calendar.AnimalString;
var date = calendar.ChineseDateString;
var constellation = calendar.ChineseConstellation;
var tg = calendar.GanZhiYearString;
Assert.Equal(animal, "鸡");
Assert.Equal(date, "一九九三年闰三月十八");
Assert.Equal(constellation, "柳土獐");
Assert.Equal(tg, "癸酉年");
}
INI文件读写
var ini = new IniFile("path");
ini.IniWriteValue("sectionName", "key", "value"); //写ini文件
var ret = ini.IniReadValue("sectionName", "key") //读ini文件
ini.ClearAllSection(); //删除ini文件下所有段落
ini.ClearSection(); //删除ini文件下指定段落下的所有键
HighTimer(MS级高速定时器)
var timer = new HighTimer();
timer.Elapsed += Timer_Elapsed;
timer.Start(1, true);
private void Timer_Elapsed(object? sender, EventArgs e)
{
Console.WriteLine("timer");
}
//CRC LRC
CoreTool.CalculateCrc(new byte[]{...});
CoreTool.CalculateLrc(new byte[]{...});
//Hex字符串转byte[]
var bytes = CoreTool.HexToBytes("a55aff");
//Converts four UInt16 values into a IEEE 64 floating point format.
CoreTool.GetDouble(...);
//Converts two UInt16 values into a IEEE 32 floating point format.
CoreTool.GetSingle(...);
//Converts two UInt16 values into a UInt32.
CoreTool.GetUInt32(...);
//Converts an array of bytes to an ASCII byte array.
var bytes = CoreTool.GetAsciiBytes(...);
//Converts an array of UInt16 to an ASCII byte array.
var bytes = CoreTool.GetAsciiBytes(...);
//Converts a network order byte array to an array of UInt16 values in host order.
var ushorts = CoreTool.NetworkBytesToHostUInt16(...);
//防止软件多开
CoreTool.SoftwareMutex(out var appMutex);
StreamResource
var udp = new UdpClient();
var adapter = new UdpClientAdapter(udp);
var data = CoreTool.ReadLine(adapter, "\r\n"); //以结束符\r\n读取一行数据不支持中文
var data2 = CoreTool.ReadLineByUTF8(adapter, "\r\n"); //以结束符\r\n读取一行数据支持中文
var data3 = CoreTool.ReadLine(adapter, 8); //读取指定字节数的数据
var tail = new byte[]{0xa5, 0x5a}
var data4 = CoreTool.ReadLine(adapter, tail); //读取指定结尾的数据
public void ModbusRtuReadWriteCoilsOverSerialPortTest()
{
var serialPort = new SerialPort("COM2");
serialPort.Open();
var adapter = new SerialPortAdapter(serialPort)
{
ReadTimeout = 500,
WriteTimeout = 500
};
var master = (new ModbusFactory()).CreateRtuMaster(adapter);
master.WriteMultipleCoils(1, 0, new[]
{
true, true, false, false, false,
true, true, false, false, false,
});
var ret = master.ReadCoils(1, 0, 10);
Assert.True(ret[0]);
Assert.True(ret[1]);
Assert.True(ret[5]);
Assert.True(ret[6]);
}
Modbus RTU Over TCP
public void ModbusRtuReadWriteCoilsOverTcpTest()
{
var tcp = new Socket(SocketType.Stream, ProtocolType.Tcp);
tcp.Connect("127.0.0.1", 502);
var adapter = new SocketAdapter(tcp)
{
ReadTimeout = 500,
WriteTimeout = 500
};
var master = (new ModbusFactory()).CreateRtuMaster(adapter);
master.WriteMultipleCoils(1, 0, new[]
{
true, true, false, false, false,
true, true, false, false, false,
});
var ret = master.ReadCoils(1, 0, 10);
Assert.True(ret[0]);
Assert.True(ret[1]);
Assert.True(ret[5]);
Assert.True(ret[6]);
}
Modbus TCP/IP
public void ModbusRtuReadWriteCoilsOverTcpTest()
{
var tcp = new TcpClient();
tcp.Connect("127.0.0.1", 502);
var master = (new ModbusFactory()).CreateMaster(tcp);
master.WriteMultipleCoils(1, 0, new[]
{
true, true, false, false, false,
true, true, false, false, false,
});
var ret = master.ReadCoils(1, 0, 10);
Assert.True(ret[0]);
Assert.True(ret[1]);
Assert.True(ret[5]);
Assert.True(ret[6]);
}
Modbus UDP/IP
public void ModbusRtuReadWriteCoilsOverTcpTest()
{
var udp = new UdpClient();
udp.Connect("127.0.0.1", 502);
var master = (new ModbusFactory()).CreateMaster(tcp);
master.WriteMultipleCoils(1, 0, new[]
{
true, true, false, false, false,
true, true, false, false, false,
});
var ret = master.ReadCoils(1, 0, 10);
Assert.True(ret[0]);
Assert.True(ret[1]);
Assert.True(ret[5]);
Assert.True(ret[6]);
}
Palink.Tools.Robots
Epson机械臂
public void LoginTest()
{
var tcp = new TcpClient("192.168.13.8", 5000);
var adapter = new TcpClientAdapter(tcp)
{
ReadTimeout = 500,
WriteTimeout = 500
};
var epson = FreebusFactory.CreateEpsonMaster(adapter, new DebugFreebusLogger());
var ret = epson.Login("");
Assert.True(ret);
}
YzAim直流伺服
public void FunctionTests()
{
const byte situation = 0x01;
const ushort myAcc = 15000;
const ushort mySpeed = 1500;
var client = new TcpClient();
client.Connect("192.168.0.8", 503);
var adapter = new TcpClientAdapter(client);
adapter.ReadTimeout = 500;
adapter.WriteTimeout = 500;
var yzAim = FreebusFactory.CreateYzAimMaster(adapter, NullFreebusLogger.Instance);
var ret = yzAim.ModifyId(situation, 100);
ret = yzAim.ModifyId(100, situation);
var id = yzAim.GetYzAimStatusCmd(situation, YzAimCmd.Address);
var speed = yzAim.GetYzAimStatusCmd(situation, YzAimCmd.TargetSpeed);
var acc = yzAim.GetYzAimStatusCmd(situation, YzAimCmd.Acc);
var electricity = yzAim.GetActualElectricity(situation);
var electricity1 =
yzAim.GetYzAimStatusCmd(situation, YzAimCmd.Electricity);
var voltage = yzAim.GetActualVoltage(situation);
var voltage1 = yzAim.GetYzAimStatusCmd(situation, YzAimCmd.Voltage);
var dir = yzAim.GetYzAimStatusCmd(situation, YzAimCmd.Dir);
var errCode = yzAim.GetYzAimStatusCmd(situation, YzAimCmd.ErrCode);
var temperature =
yzAim.GetYzAimStatusCmd(situation, YzAimCmd.Temperature);
yzAim.SetYzAimStatusCmd(situation, YzAimCmd.ModbusEnable, 1);
yzAim.SetYzAimStatusCmd(situation, YzAimCmd.MotorEnable, 1);
// yzAmi.SetPosition(2, -10000);
yzAim.WriteAllMotionParams(new List<(int position, ushort speed, ushort acc)>()
{
(-10000, mySpeed, myAcc)
});
var group = new List<(byte id, int pos)> { (situation, -10000) };
Task.Delay(100).Wait();
var cSpeed = 0.0;
while (!yzAim.AllReady(group))
{
var e = yzAim.GetActualElectricity(situation);
var v = yzAim.GetActualVoltage(situation);
var s = yzAim.GetActualSpeed(situation);
var e1 = yzAim.GetYzAimStatusCmd(situation, YzAimCmd.Electricity);
var v1 = yzAim.GetYzAimStatusCmd(situation, YzAimCmd.Voltage);
if (e > electricity)
electricity = e;
if (v > voltage)
voltage = v;
if (e1 > electricity1)
electricity1 = e1;
if (v1 > voltage1)
voltage1 = v1;
if (Math.Abs(s) > Math.Abs(cSpeed))
cSpeed = s;
Task.Delay(100).Wait();
}
var pos = yzAim.GetPosition(situation);
// yzAmi.SetPosition(2, -100000);
yzAim.WriteAllMotionParams(new List<(int position, ushort speed, ushort acc)>()
{
(-100000, mySpeed, myAcc)
});
Task.Delay(100).Wait();
group = new List<(byte id, int pos)> { (situation, -100000) };
while (!yzAim.AllReady(group))
{
var e = yzAim.GetActualElectricity(situation);
var v = yzAim.GetActualVoltage(situation);
var s = yzAim.GetActualSpeed(situation);
var e1 = yzAim.GetYzAimStatusCmd(situation, YzAimCmd.Electricity);
var v1 = yzAim.GetYzAimStatusCmd(situation, YzAimCmd.Voltage);
if (e > electricity)
electricity = e;
if (v > voltage)
voltage = v;
if (e1 > electricity1)
electricity1 = e1;
if (v1 > voltage1)
voltage1 = v1;
if (Math.Abs(s) > Math.Abs(cSpeed))
cSpeed = s;
}
pos = yzAim.GetPosition(situation);
}