using Bro.Common.Base;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace Bro.Device.GTSCard
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{
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public class GTSCardDriver : DeviceBase, IMotion
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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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protected override void Init()
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{
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throw new NotImplementedException();
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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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/// <summary>
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/// 点位到点位 运动
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/// </summary>
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/// <param name="cardNum">卡号</param>
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/// <param name="axisNum">轴号</param>
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/// <param name="prfPosition">规划位置,单位毫米</param>
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/// <param name="prfVelocity">规划速度,单位米每秒</param>
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public void P2P(short cardNum, short axisNum, int prfPosition, int prfVelocity)
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{
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GTSCardAPI.TTrapPrm trapprm;
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GTSCardAPI.GT_PrfTrap(cardNum, axisNum);
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GTSCardAPI.GT_GetTrapPrm(cardNum, axisNum, out trapprm);
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trapprm.acc = GTSCardParameter.P2PAcc;
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trapprm.dec = GTSCardParameter.P2PDec;
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trapprm.smoothTime = 1;
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GTSCardAPI.GT_SetTrapPrm(cardNum, axisNum, ref trapprm);
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GTSCardAPI.GT_SetPos(cardNum, axisNum, prfPosition * GTSCardParameter.Dangliang);
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GTSCardAPI.GT_SetVel(cardNum, axisNum, prfVelocity * GTSCardParameter.Dangliang);
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GTSCardAPI.GT_Update(cardNum, 1 << (axisNum - 1));
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}
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/// <summary>
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/// Jog运动
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/// </summary>
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/// <param name="cardNum"></param>
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/// <param name="axisNum"></param>
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/// <param name="velocity">规划速度，单位米每秒</param>
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public void Jog(short cardNum, short axisNum, double velocity)
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{
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GTSCardAPI.TJogPrm jogprm = new GTSCardAPI.TJogPrm();
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short rtn = GTSCardAPI.GT_PrfJog(cardNum, axisNum);
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jogprm.acc = 1;
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jogprm.dec = 1;
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GTSCardAPI.GT_SetJogPrm(cardNum, axisNum, ref jogprm);//设置jog运动参数
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GTSCardAPI.GT_SetVel(cardNum, axisNum, velocity);//设置目标速度
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GTSCardAPI.GT_Update(cardNum, 1 << (axisNum - 1));//更新轴运动
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}
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/// <summary>
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/// 读取输入
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/// </summary>
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/// <param name="cardNum">卡号</param>
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/// <param name="index">输入口</param>
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/// <returns>有输入返回true，无输入返回false</returns>
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public bool GetDi(short cardNum, short index)
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{
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int value;
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GTSCardAPI.GT_GetDi(cardNum, GTSCardAPI.MC_GPI, out value);
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if ((value & 1 << index) == 0) return true;//有输入返回true
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else return false; //无输入返回false
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}
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/// <summary>
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/// 输出
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/// </summary>
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/// <param name="cardNumo">卡号</param>
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/// <param name="index">输出口,返回1-16</param>
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/// <param name="value">0表示输出，1表示关闭</param>
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public void WriteOut(short cardNumo, short index, bool value)
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{
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short outNum = (short)(index % 100 + 1);
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switch (value)
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{
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case true:
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{
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GTSCardAPI.GT_SetDoBit(cardNumo, GTSCardAPI.MC_GPO, outNum, 0);//按位输出，0表示输出，1表示关闭
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}
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break;
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case false:
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{
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GTSCardAPI.GT_SetDoBit(cardNumo, GTSCardAPI.MC_GPO, outNum, 1);//按位输出，0表示输出，1表示关闭
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}
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break;
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}
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}
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/// <summary>
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/// 停止 某个轴
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/// </summary>
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/// <param name="cardNum"></param>
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/// <param name="axisNum"></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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public void Stop(short cardNum, short axisNum, short option)
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{
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GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), option);
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}
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/// <summary>
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/// 停止 某个轴
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/// </summary>
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/// <param name="cardNum"></param>
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/// <param name="axisNum">轴号</param>
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/// <param name="value">停止方式，false表示平滑停止，true表示紧急停止</param>
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public void Stop(short cardNum, short axisNum, bool value)
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{
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switch (value)
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{
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case false:
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{
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GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 0);
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}
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break;
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case true:
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{
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GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 1 << (axisNum - 1));
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}
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break;
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}
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}
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/// <summary>
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/// 停止 全部轴
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/// </summary>
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/// <param name="cardNum"></param>
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/// <param name="value">停止方式，false表示平滑停止，true表示紧急停止</param>
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public void StopAll(short cardNum, bool value)
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{
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for (short i = 1; i <= GTSCardParameter.AxisCount; i++)
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{
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Stop(cardNum, i, value);
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}
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}
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/// <summary>
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/// IO输出
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/// </summary>
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/// <param name="cardNum">卡号</param>
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/// <param name="mdl">模块号</param>
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/// <param name="index">IO输出</param>
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/// <param name="value">true表示输出，false表示无输出</param>
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public void MC_WriteDigitalOutput(short cardNum, short mdl, short index, bool value)
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{
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if (value)
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{
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GTSCardAPI.GT_SetExtIoBit(cardNum, mdl, index, 0);
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}
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else
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{
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GTSCardAPI.GT_SetExtIoBit(cardNum, mdl, index, 1);
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}
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}
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/// <summary>
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/// 读取IO输出状态
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/// </summary>
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/// <param name="cardNumo"></param>
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/// <param name="index"></param>
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/// <returns></returns>
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public bool GetDoSts(short cardNumo, short index)
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{
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short outNum = 0;
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int outSts;
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outNum = (short)(index % 100);
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GTSCardAPI.GT_GetDo(cardNumo, GTSCardAPI.MC_GPO, out outSts);
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if ((outSts & (1 << outNum)) == 0) return true;
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else return false;
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}
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static object lockObj = new object();
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/// <summary>
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/// 读取当前值
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/// </summary>
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/// <param name="cardNum">卡号</param>
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/// <param name="axisNum">轴号</param>
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/// <returns>返回当前值，单位毫米</returns>
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public double GetPosMM(short cardNum, short axisNum)
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{
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lock (lockObj)
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{
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double prfpos = 0; uint pclock = 0;
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GTSCardAPI.GT_GetPrfPos(cardNum, axisNum, out prfpos, 1, out pclock);
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return prfpos / GTSCardParameter.Dangliang;
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}
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}
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/// <summary>
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/// 读取轴状态，判断电机是否停止
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/// </summary>
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/// <param name="cardNum"></param>
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/// <param name="axisNum"></param>
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/// <returns></returns>
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public bool IsStop(short cardNum, short axisNum)
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{
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lock (lockObj)
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{
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int sts = 0;
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uint pclock = 0;
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GTSCardAPI.GT_GetSts(cardNum, axisNum, out sts, 1, out pclock);
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if ((sts & 0x400) == 0) return true;//停止返回true
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else return false; //运行中返回false
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}
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}
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}
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}
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