using Bro.Common.Base;
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using Bro.Common.Helper;
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using Bro.Common.Interface;
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using Bro.Common.Model;
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using System;
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using System.Collections.Concurrent;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.Drawing;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using static Bro.Common.Helper.EnumHelper;
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namespace Bro.Device.GTSCard
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{
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[Device("GTSCard", "固高板卡", EnumHelper.DeviceAttributeType.Device)]
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public class GTSCardDriver : DeviceBase, IMonitor, IMotion
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{
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public event Action<DateTime, string, IDevice, MonitorSet> OnMonitorInvoke;
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public event Action<DateTime, IDevice, WarningSet> OnMonitorAlarm;
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public delegate bool OnAxisStartToCheckDelegate(int axisIndex, int startPosition, int endPosition);
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// 异常事件
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public Action<Exception> OnExceptionRaised;
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public GTSCardInitialConfig IConfig
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{
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get
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{
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return InitialConfig as GTSCardInitialConfig;
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}
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}
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static Dictionary<int, object> axisMoveLockDict = new Dictionary<int, object>();
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/// <summary>
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/// 轴运动开始时的检测，true:有冲突 不可继续执行 false：无冲突,可继续执行
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/// </summary>
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public event OnAxisStartToCheckDelegate OnAxisStartToCheckConfliction;
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/// <summary>
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/// 暂停（线程同步事件）
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/// </summary>
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Dictionary<int, ManualResetEvent> axisImmediatePauseHandleDict = new Dictionary<int, ManualResetEvent>();
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Dictionary<int, CancellationTokenSource> axisMoveCancelDict = new Dictionary<int, CancellationTokenSource>();
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/// <summary>
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/// 运行过程中的线程等待
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/// </summary>
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private Dictionary<int, ManualResetEvent> runningEventDic = new Dictionary<int, ManualResetEvent>();
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private Dictionary<int, AutoResetEvent> axisMovingHandleDict = new Dictionary<int, AutoResetEvent>();
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private ConcurrentDictionary<int, int> axisDestination = new ConcurrentDictionary<int, int>();
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private ObservableCollection<int> _commandAxisList = new ObservableCollection<int>();
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public Action<bool> CommandAxisCountChangedAction = null;
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private Dictionary<int, VelocityPara> velIndexDict = new Dictionary<int, VelocityPara>();
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ManualResetEvent _pauseHandle = new ManualResetEvent(true);
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static object moveLock = new object();
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/// <summary>
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/// 是否复位标志
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/// </summary>
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bool _isResetting = false;
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public void SetResetFlag(bool isReset)
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{
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_isResetting = isReset;
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}
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public List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
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{
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throw new NotImplementedException();
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}
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#region DeviceBase
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protected override void Init()
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{
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InitialMotionCard();
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}
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protected override void Pause()
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{
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throw new NotImplementedException();
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}
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protected override void Resume()
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{
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throw new NotImplementedException();
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}
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protected override void Start()
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{
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throw new NotImplementedException();
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}
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protected override void Stop()
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{
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throw new NotImplementedException();
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}
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#endregion
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#region GTSCard
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/// <summary>
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/// Load Motion Card parameter from file
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/// </summary>
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/// <param name="fileName">Invalid Parameter</param>
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/// <returns></returns>
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public void InitialMotionCard()
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{
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var res = GTSCardAPI.GT_Open((short)IConfig.CardNum, 0, 1); //打开运动控制器。参数必须为（0,1），不能修改。
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res += GTSCardAPI.GT_LoadConfig((short)IConfig.CardNum, IConfig.InitialConfigFilePath);
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res += GTSCardAPI.GT_ClrSts(0, 1, 8);
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if (res != (short)GTSRetCode.GRCRunOK)
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{
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throw new Exception("板卡载入配置文件异常，错误码：" + res);
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}
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}
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/// <summary>
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/// 点位到点位运动
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/// </summary>
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/// <param name="item">运动对象</param>
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/// <returns>运动控制+停止判断</returns>
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public bool MoveToPoint(IOperationConfig opConfig)
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{
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bool resultOK = false;
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var gtsOperationConfig = opConfig as GTSCardOperationConfig;
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foreach (var movingOp in gtsOperationConfig.MovingOps)
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{
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resultOK = SingleAxisMoving(movingOp);
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}
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return resultOK;
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}
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/// <summary>
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/// Set AxisParam
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/// </summary>
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/// <param name="optionPara">运动参数对象</param>
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/// <returns></returns>
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private bool SetAxisParam(MovingOption optionPara)
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{
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List<short> resultCode = new List<short>() { 0 };
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GTSCardAPI.TTrapPrm trapprm;
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resultCode.Add(GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)optionPara.AxisIndex));
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resultCode.Add(GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, (short)optionPara.AxisIndex, out trapprm));
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trapprm.smoothTime = 1;
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trapprm.acc = optionPara.VelocityPara.Acc != 0 ? optionPara.VelocityPara.Acc : 1;
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trapprm.dec = optionPara.VelocityPara.Dec != 0 ? optionPara.VelocityPara.Dec : 1;
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resultCode.Add(GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, (short)optionPara.AxisIndex, ref trapprm));
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resultCode.Add(GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)optionPara.AxisIndex, optionPara.VelocityPara.Velocity * IConfig.AxisVelocityRatio));
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var resultOK = resultCode.All(u => u == (short)GTSRetCode.GRCRunOK);
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if (!resultOK)
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{
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throw new Exception("轴" + optionPara.AxisIndex + "设置参数异常，错误码：" + string.Join(",", resultCode));
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}
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return resultOK;
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}
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/// <summary>
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/// 单个轴 点位到点位运动
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/// </summary>
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/// <param name="optionPara">运动参数对象</param>
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public bool SingleAxisMoving(MovingOption optionPara)
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{
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bool isSuccessAndStop = false;
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if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
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{
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string _position = "";
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string motionType = optionPara.MoveMode == EnumHelper.MotorMoveMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();
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_position = $"{DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff")},{optionPara.AxisIndex},{motionType},{GetPosition(optionPara.AxisIndex).ToString()},{GetPrfPosition(optionPara.AxisIndex).ToString()},{optionPara.Destination},";
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switch (optionPara.MoveMode)
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{
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case MotorMoveMode.Normal:
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{
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if (_isResetting)
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{
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LogAsync(DateTime.Now, "复位中启动运动异常", optionPara.AxisIndex + "启动运动异常");
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return false;
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}
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//设置 运动参数
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var isSuccess = SetAxisParam(optionPara);
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if (isSuccess)
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{
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if (optionPara.IsAbsolute)
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{
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isSuccessAndStop = MoveAbs(optionPara);
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}
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else
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{
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isSuccessAndStop = MoveRel(optionPara);
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}
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}
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}
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break;
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case MotorMoveMode.FindOri:
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{
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isSuccessAndStop = GoHome(optionPara);
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}
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break;
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}
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_position += $"{GetPosition(optionPara.AxisIndex)},";
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_position += $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}";
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LogAsync(DateTime.Now, "", _position);
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}
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return isSuccessAndStop;
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}
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/// <summary>
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/// 获取规划位置（要去的位置）
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/// </summary>
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/// <param name="axisNum">Axis number</param>
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/// <returns></returns>
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public double GetPrfPosition(int axisNum)
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{
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lock (moveLock)
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{
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double position = 0;
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double prfpos = 0; uint pclock = 0;
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var ret = GTSCardAPI.GT_GetPrfPos((short)IConfig.CardNum, (short)axisNum, out prfpos, 1, out pclock);
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if (ret != (short)GTSRetCode.GRCRunOK)
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{
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throw new Exception("轴" + axisNum + "获取规划位置异常，错误码：" + ret);
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}
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position = prfpos / IConfig.AxisVelocityRatio;
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return position;
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}
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}
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/// <summary>
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/// 获取目前当前位置
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/// </summary>
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/// <param name="axisNum">Axis number</param>
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/// <returns></returns>
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public double GetPosition(int axisNum)
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{
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lock (moveLock)
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{
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double position = 0;
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int pPos = 0;
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var ret = GTSCardAPI.GT_GetPos((short)IConfig.CardNum, (short)axisNum, out pPos);
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if (ret != (short)GTSRetCode.GRCRunOK)
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{
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throw new Exception("轴" + axisNum + "获取目标位置异常，错误码：" + ret);
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}
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position = pPos / IConfig.AxisVelocityRatio;
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return position;
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}
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}
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/// <summary>
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/// Set Single Axis Do Jog Move
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/// </summary>
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/// <param name="axisNum">AxisNo</param>
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/// <param name="nDirection">Motion Direction 0: Negative, 1: Positive</param>
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/// <param name="nMaxVel">max velocity</param>
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/// <returns></returns>
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public bool StartJog(int axisNum, int nDirection, int velocity)
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{
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GTSCardAPI.TJogPrm jogprm = new GTSCardAPI.TJogPrm();
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short rtn = GTSCardAPI.GT_PrfJog((short)IConfig.CardNum, (short)axisNum);
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jogprm.acc = 1;
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jogprm.dec = 1;
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GTSCardAPI.GT_SetJogPrm((short)IConfig.CardNum, (short)axisNum, ref jogprm);//设置jog运动参数
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GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)axisNum, velocity);//设置目标速度
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int ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (axisNum - 1));//更新轴运动
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if (ret != (int)GTSRetCode.GRCRunOK)
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{
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return false;
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}
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return true;
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}
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/// <summary>
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/// Set Single Axis Do stop Jog Move
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/// </summary>
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/// <param name="axisNum">AxisNo</param>
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/// <returns></returns>
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public bool StopJog(int axisNum)
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{
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//停止运动
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MoveStop(axisNum, 0);
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//运动开始后 检查运动是否停止
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bool isStop = false;
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int repeatTime = 1000;
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do
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{
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isStop = IsStop((short)IConfig.CardNum, (short)axisNum);
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Thread.Sleep(50);
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repeatTime--;
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} while (!isStop && repeatTime > 0);
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return isStop;
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}
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/// <summary>
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/// 相对位置运动
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/// </summary>
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/// <param name="axisNum">AxisNo</param>
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/// <param name="nDistance">run distance</param>
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/// <returns></returns>
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public bool MoveRel(MovingOption optionPara)
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{
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try
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{
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if (_isResetting)
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{
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LogAsync(DateTime.Now, "复位过程异常", "轴" + optionPara.AxisIndex + "试图在复位过程中运动");
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throw new Exception("轴" + optionPara.AxisIndex + "试图在复位过程中运动");
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}
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int repeatTime = 30;
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while (CurrentState != EnumHelper.DeviceState.DSOpen && repeatTime > 0)
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{
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Thread.Sleep(10);
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repeatTime--;
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}
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if (CurrentState == EnumHelper.DeviceState.DSExcept)
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{
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LogAsync(DateTime.Now, "板卡异常状态", "轴" + optionPara.AxisIndex + "试图异常状态运动");
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return false;
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}
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if (CurrentState != EnumHelper.DeviceState.DSOpen)
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{
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LogAsync(DateTime.Now, "非正常状态异常", "轴" + optionPara.AxisIndex + "试图在非正常状态运动");
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throw new Exception("轴" + optionPara.AxisIndex + "试图在非正常状态运动", null);
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}
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LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "开始运动", "目标坐标：" + optionPara.Destination);
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short ret = 0;
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repeatTime = 1000;
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int currentPosition = (int)GetPosition(optionPara.AxisIndex);
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int dPosition = optionPara.Destination + currentPosition;
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do
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{
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ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition * IConfig.AxisVelocityRatio));// 设置规划位置
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ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//更新运动
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if (ret != (short)GTSRetCode.GRCRunOK)
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{
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LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "APS_absolute_move异常", "错误码：" + ret + ";" + "重试次数：" + repeatTime);
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Thread.Sleep(50);
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}
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repeatTime--;
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} while (ret != (short)GTSRetCode.GRCRunOK && repeatTime > 0);
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//运动开始后 检查运动是否停止
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bool isStop = false;
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repeatTime = 1000;
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do
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{
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isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
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Thread.Sleep(50);
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repeatTime--;
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} while (!isStop && repeatTime > 0);
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return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
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}
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catch (Exception ex)
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{
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AllMoveStop(true);
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OnExceptionRaised?.Invoke(ex);
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return false;
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}
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}
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/// <summary>
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/// 绝对位置运动
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/// </summary>
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/// <param name="optionPara">运动参数对象</param>
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public bool MoveAbs(MovingOption optionPara)
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{
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try
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{
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if (_isResetting)
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{
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LogAsync(DateTime.Now, "复位过程异常", "轴" + optionPara.AxisIndex + "试图在复位过程中运动");
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throw new Exception("轴" + optionPara.AxisIndex + "试图在复位过程中运动");
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}
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int repeatTime = 30;
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while (CurrentState != EnumHelper.DeviceState.DSOpen && repeatTime > 0)
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{
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Thread.Sleep(10);
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repeatTime--;
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}
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if (CurrentState == EnumHelper.DeviceState.DSExcept)
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{
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LogAsync(DateTime.Now, "板卡异常状态", "轴" + optionPara.AxisIndex + "试图异常状态运动");
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return false;
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}
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if (CurrentState != EnumHelper.DeviceState.DSOpen)
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{
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LogAsync(DateTime.Now, "非正常状态异常", "轴" + optionPara.AxisIndex + "试图在非正常状态运动");
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throw new Exception("轴" + optionPara.AxisIndex + "试图在非正常状态运动", null);
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}
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LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "开始运动", "目标坐标：" + optionPara.Destination);
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short ret = 0;
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repeatTime = 1000;
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do
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{
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ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(optionPara.Destination * IConfig.AxisVelocityRatio));// 设置规划位置
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ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//更新运动
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if (ret != (short)GTSRetCode.GRCRunOK)
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{
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LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "APS_absolute_move异常", "错误码：" + ret + ";" + "重试次数：" + repeatTime);
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Thread.Sleep(50);
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}
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repeatTime--;
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} while (ret != (short)GTSRetCode.GRCRunOK && repeatTime > 0);
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bool isStop = false;
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repeatTime = 1000;
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do
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{
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isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
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Thread.Sleep(50);
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repeatTime--;
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} while (!isStop && repeatTime > 0);
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return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
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}
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catch (Exception ex)
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{
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AllMoveStop(true);
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OnExceptionRaised?.Invoke(ex);
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return false;
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}
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}
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/// <summary>
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/// 运动停止
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/// </summary>
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/// <param name="axisNum">axisNo</param>
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/// <param name="option">0表示平滑停止，1表示紧急停止</param>
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/// <returns></returns>
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public void MoveStop(int axisNum, int option)
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{
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if (option == 1)
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{
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StateChange(EnumHelper.DeviceState.DSExcept);
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}
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var ret = GTSCardAPI.GT_Stop((short)IConfig.CardNum, 1 << (axisNum - 1), option);
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if (ret != (short)GTSRetCode.GRCRunOK)
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{
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LogAsync(DateTime.Now, "轴" + axisNum + "运动停止异常", "错误码：" + ret);
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throw new Exception("轴" + axisNum + "运动停止异常，错误码：" + ret);
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}
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else
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{
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LogAsync(DateTime.Now, "轴" + axisNum + "运动停止", "");
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}
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}
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/// <summary>
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/// 所有开启的轴关闭
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/// </summary>
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/// <param name="emergencyStop"></param>
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public void AllMoveStop(bool emergencyStop = false)
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{
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int option = emergencyStop ? 1 : 0;
|
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IConfig.AxisSettings.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>
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{
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MoveStop(axisNum.AxisIndex, option);
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});
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}
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/// <summary>
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/// 回原点
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/// </summary>
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/// <param name="movingOption">卡号</param>
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/// <param name="axisn">轴号</param>
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/// <param name="homests">轴回原点状态</param>
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public bool GoHome(MovingOption movingOption)
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{
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try
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{
|
GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);
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GTSCardAPI.THomePrm thomeprm;
|
GTSCardAPI.THomeStatus homests;
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short rtn = GTSCardAPI.GT_GetHomePrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out thomeprm);
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thomeprm.mode = movingOption.GoHomePara.HomeMode;//回零方式
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thomeprm.moveDir = movingOption.GoHomePara.HomeDir;//回零方向
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thomeprm.edge = movingOption.GoHomePara.Edge;
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thomeprm.velHigh = movingOption.GoHomePara.HighVelocity;
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thomeprm.velLow = movingOption.GoHomePara.LowVelocity;
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thomeprm.acc = movingOption.VelocityPara.Acc;
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thomeprm.dec = movingOption.VelocityPara.Dec;
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thomeprm.searchHomeDistance = movingOption.GoHomePara.SearchHomeDistance;//搜搜距离
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thomeprm.homeOffset = movingOption.GoHomePara.HomeOffset; //偏移距离
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thomeprm.escapeStep = movingOption.GoHomePara.EscapeStep;
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rtn = GTSCardAPI.GT_GoHome((short)IConfig.CardNum, (short)movingOption.AxisIndex, ref thomeprm); //启动回零
|
|
bool isStop = false;
|
int repeatTime = 1000;
|
do
|
{
|
Thread.Sleep(10);
|
GTSCardAPI.GT_GetHomeStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out homests);
|
|
isStop = homests.run == 0;
|
if (isStop && homests.error == 0)
|
{
|
Thread.Sleep(200);
|
GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);
|
}
|
repeatTime--;
|
} while (!isStop && repeatTime > 0);
|
|
return isStop;
|
}
|
catch (Exception ex)
|
{
|
AllMoveStop(true);
|
OnExceptionRaised?.Invoke(ex);
|
return false;
|
}
|
}
|
|
/// <summary>
|
/// 读取输入
|
/// </summary>
|
/// <param name="cardNum">卡号</param>
|
/// <param name="index">输入口</param>
|
/// <returns>有输入返回true，无输入返回false</returns>
|
public bool GetDi(short cardNum, short index)
|
{
|
int value;
|
GTSCardAPI.GT_GetDi(cardNum, GTSCardAPI.MC_GPI, out value);
|
if ((value & 1 << index) == 0) return true;//有输入返回true
|
else return false; //无输入返回false
|
}
|
|
/// <summary>
|
/// 输出
|
/// </summary>
|
/// <param name="cardNum">卡号</param>
|
/// <param name="index">输出口,返回1-16</param>
|
/// <param name="value">false表示输出，true表示关闭</param>
|
public void WriteOut(short cardNum, short index, bool value)
|
{
|
short outNum = (short)(index % 100 + 1);
|
if (value)
|
{
|
GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 0);
|
}
|
else
|
{
|
GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 1);
|
}
|
}
|
|
/// <summary>
|
/// 停止 某个轴
|
/// </summary>
|
/// <param name="cardNum"></param>
|
/// <param name="axisNum">轴号</param>
|
/// <param name="value">停止方式，false表示平滑停止，true表示紧急停止</param>
|
public void Stop(short cardNum, short axisNum, bool emergencyStop)
|
{
|
if (emergencyStop)
|
{
|
GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 1 << (axisNum - 1));
|
}
|
else
|
{
|
GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 0);
|
}
|
}
|
|
/// <summary>
|
/// IO输出
|
/// </summary>
|
/// <param name="cardNum">卡号</param>
|
/// <param name="mdl">模块号</param>
|
/// <param name="index">IO输出</param>
|
/// <param name="value">true表示输出，false表示无输出</param>
|
public void MC_WriteDigitalOutput(short cardNum, short mdl, short index, bool value)
|
{
|
if (value)
|
{
|
GTSCardAPI.GT_SetExtIoBit(cardNum, mdl, index, 0);
|
}
|
else
|
{
|
GTSCardAPI.GT_SetExtIoBit(cardNum, mdl, index, 1);
|
}
|
}
|
|
/// <summary>
|
/// 读取IO输出状态
|
/// </summary>
|
/// <param name="cardNum"></param>
|
/// <param name="index"></param>
|
/// <returns></returns>
|
public bool GetDoSts(short cardNum, short index)
|
{
|
short outNum = 0;
|
int outSts;
|
outNum = (short)(index % 100);
|
GTSCardAPI.GT_GetDo(cardNum, GTSCardAPI.MC_GPO, out outSts);
|
if ((outSts & (1 << outNum)) == 0) return true;
|
else return false;
|
}
|
|
/// <summary>
|
/// 读取轴状态，判断电机是否停止
|
/// </summary>
|
/// <param name="cardNum">板卡号</param>
|
/// <param name="axisNum">轴号</param>
|
/// <returns></returns>
|
public bool IsStop(short cardNum, short axisNum)
|
{
|
lock (moveLock)
|
{
|
int sts = 0;
|
uint pclock = 0;
|
GTSCardAPI.GT_GetSts(cardNum, axisNum, out sts, 1, out pclock);
|
if ((sts & 0x400) == 0) return true;//停止返回true
|
else return false; //运行中返回false
|
}
|
}
|
|
#endregion
|
|
public void Monitor()
|
{
|
throw new NotImplementedException();
|
}
|
|
public void ResetAlarm()
|
{
|
throw new NotImplementedException();
|
}
|
|
|
}
|
}
|
