M071.git - Gitblit

			@@ -46,6 +46,8 @@
			/// 运动轴立即暂停
			/// </summary>
			Dictionary<int, ManualResetEvent> axisImmediatePauseHandleDict = new Dictionary<int, ManualResetEvent>();
			Dictionary<int, bool> axisImmediatePauseFlag = new Dictionary<int, bool>();
			Dictionary<int, bool> axisPauseResumeFlag = new Dictionary<int, bool>();

			//Dictionary<int, CancellationTokenSource> axisMoveCancelDict = new Dictionary<int, CancellationTokenSource>();

			@@ -145,16 +147,22 @@
			{
			foreach (var preCheck in operationSet.PreCheckIOCollection)
			{
			int timeout = operationSet.PreCheckIOTimeout;
			_pauseHandle.Wait();

			IOValue? ioData = null;
			while (CurrentState == DeviceState.DSOpen)
			if (CurrentState == DeviceState.DSOpen)
			{
			Thread.Sleep(10);
			ioData = MonitorValues.FirstOrDefault(u => u.IONum == preCheck.IOItem.IONum && u.IOType == preCheck.IOItem.IOType)?.Value;//IO 是开、关从MonitorValues 获取
			timeout -= 10;
			if (preCheck.CheckValue == ioData \|\| (operationSet.PreCheckIOTimeout > 0 && timeout < 0))
			int timeout = operationSet.PreCheckIOTimeout;

			while (CurrentState == DeviceState.DSOpen)
			{
			break;
			Thread.Sleep(10);
			ioData = MonitorValues.FirstOrDefault(u => u.IONum == preCheck.IOItem.IONum && u.IOType == preCheck.IOItem.IOType)?.Value;//IO 是开、关从MonitorValues 获取
			timeout -= 10;
			if (preCheck.CheckValue == ioData \|\| (operationSet.PreCheckIOTimeout > 0 && timeout < 0))
			{
			break;
			}
			}
			}

			@@ -170,10 +178,15 @@
			// 2.板卡运动
			if (CurrentState == DeviceState.DSOpen)
			{
			responseMessage = MoveToPoint(new MotionOperationCollection() { MovingOps = operationSet.MovingOps });
			if (!responseMessage.Result)
			_pauseHandle.Wait();

			if (CurrentState == DeviceState.DSOpen)
			{
			return responseMessage;
			responseMessage = MoveToPoint(new MotionOperationCollection() { MovingOps = operationSet.MovingOps });
			if (!responseMessage.Result)
			{
			return responseMessage;
			}
			}
			}

			@@ -181,18 +194,24 @@
			// 3.IO输出不需要超时
			if (CurrentState == DeviceState.DSOpen)
			{

			foreach (var ioOutput in operationSet.IOOutputCollection)
			{
			WriteOutput((short)ioOutput.IOItem.IONum, ioOutput.CheckValue);
			_pauseHandle.Wait();

			//var ioData = MonitorValues.FirstOrDefault(u => u.IONum == ioOutput.IOItem.IONum && u.IOType == ioOutput.IOItem.IOType)?.Value;//IO 是开、关从MonitorValues 获取
			if (CurrentState == DeviceState.DSOpen)
			{
			WriteOutput((short)ioOutput.IOItem.IONum, ioOutput.CheckValue);

			//if (ioOutput.CheckValue != ioData)
			//{
			// responseMessage.Result = false;
			// responseMessage.Message = $"IO输出不通过，配置：{ioOutput.GetDisplayText()}，当前值：{ioData}";
			// return responseMessage;
			//}
			//var ioData = MonitorValues.FirstOrDefault(u => u.IONum == ioOutput.IOItem.IONum && u.IOType == ioOutput.IOItem.IOType)?.Value;//IO 是开、关从MonitorValues 获取

			//if (ioOutput.CheckValue != ioData)
			//{
			// responseMessage.Result = false;
			// responseMessage.Message = $"IO输出不通过，配置：{ioOutput.GetDisplayText()}，当前值：{ioData}";
			// return responseMessage;
			//}
			}
			}
			}

			@@ -228,6 +247,8 @@
			#endregion

			#region ImmediatePause
			ManualResetEventSlim _pauseHandle = new ManualResetEventSlim(true);

			/// <summary>
			/// 启动立即暂停
			/// </summary>
			@@ -236,12 +257,11 @@
			if (!_isResetting)
			{
			var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();

			_pauseHandle.Reset();
			immediatePauseAxis.ForEach(async axisIndex =>
			{
			axisImmediatePauseHandleDict[axisIndex].Reset();

			//axisMoveCancelDict[axisIndex].Cancel();
			axisImmediatePauseFlag[axisIndex] = true;

			await MoveStop(axisIndex, 0);//所有轴都暂停
			});
			@@ -251,15 +271,22 @@
			/// <summary>
			/// 恢复立即暂停
			/// </summary>
			public override void ResetImmediatePause()
			public override void ResetImmediatePause(bool isResumeMoving)
			{
			var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();

			_pauseHandle.Set();
			immediatePauseAxis.ForEach(axisIndex =>
			{
			//axisMoveCancelDict[axisIndex] = new CancellationTokenSource();

			axisImmediatePauseFlag[axisIndex] = false;
			axisImmediatePauseHandleDict[axisIndex].Set();
			if (isResumeMoving)
			{
			axisPauseResumeFlag[axisIndex] = true;
			}
			else
			{
			axisPauseResumeFlag[axisIndex] = false;
			}
			});
			}
			#endregion
			@@ -347,19 +374,11 @@
			ResponseMessage responseMessage = new ResponseMessage();
			if (opConfig is MotionOperationCollection gtsOperationCollection)
			{
			//List<Task<bool>> taskList = new List<Task<bool>>();
			//foreach (var movingOp in gtsOperationCollection.MovingOps)
			//{
			// var task = SingleAxisMoving(movingOp);
			// taskList.Add(task);
			// task.Start();
			//}
			//Task.WaitAll(taskList.ToArray());
			//responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());

			List<bool> resultList = new List<bool>();
			Parallel.ForEach(gtsOperationCollection.MovingOps, movingOp =>
			{
			axisImmediatePauseFlag[movingOp.AxisIndex] = false;
			axisPauseResumeFlag[movingOp.AxisIndex] = true;
			resultList.Add(SingleAxisMoving(movingOp).Result);
			});
			responseMessage.Result = resultList.All(u => u == true);
			@@ -418,63 +437,64 @@
			public override Task<bool> SingleAxisMoving(MovingOption optionPara)
			{
			return Task.Run(() =>
			{
			axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
			bool isSuccessAndStop = false;
			try
			{
			if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
			{
			// string _position = "";
			string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();
			{
			bool isSuccessAndStop = false;
			do
			{
			axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();

			// _position = $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff},{optionPara.AxisIndex},{motionType},{GetPosition(optionPara.AxisIndex)},{GetPrfPosition(optionPara.AxisIndex)},{optionPara.Destination},";
			if (!axisPauseResumeFlag[optionPara.AxisIndex])
			return true;

			switch (optionPara.MoveMode)
			{
			case MotionMode.Normal:
			{
			if (_isResetting)
			{
			LogAsync(DateTime.Now, "复位中启动运动异常", optionPara.AxisIndex + "启动运动异常");
			return false;
			}
			try
			{
			if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
			{
			string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();

			if (optionPara.IsAbsolute)
			{
			isSuccessAndStop = P2PMoveAbs(optionPara);
			}
			else
			{
			isSuccessAndStop = P2PMoveRel(optionPara);
			}
			switch (optionPara.MoveMode)
			{
			case MotionMode.Normal:
			{
			if (_isResetting)
			{
			LogAsync(DateTime.Now, "复位中启动运动异常", optionPara.AxisIndex + "启动运动异常");
			return false;
			}

			}
			break;
			case MotionMode.FindOri:
			{
			//isSuccessAndStop = GoHome(optionPara);
			isSuccessAndStop = P2PGoHome(optionPara);
			}
			break;
			case MotionMode.Jog:
			{
			isSuccessAndStop = JogMove(optionPara);
			}
			break;
			}
			//_position += $"{GetPosition(optionPara.AxisIndex)},";
			//_position += $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}";
			//LogAsync(DateTime.Now, "", _position);
			}
			}
			catch (Exception ex)
			{
			isSuccessAndStop = false;
			LogAsync(DateTime.Now, $"轴{optionPara.AxisIndex}运动异常", ex.GetExceptionMessage());
			}
			return isSuccessAndStop;
			});
			if (optionPara.IsAbsolute)
			{
			isSuccessAndStop = P2PMoveAbs(optionPara);
			}
			//else
			//{
			// isSuccessAndStop = P2PMoveRel(optionPara);
			//}

			}
			break;
			case MotionMode.FindOri:
			{
			//isSuccessAndStop = GoHome(optionPara);
			isSuccessAndStop = P2PGoHome(optionPara);
			}
			break;
			case MotionMode.Jog:
			{
			isSuccessAndStop = JogMove(optionPara);
			}
			break;
			}
			}
			}
			catch (Exception ex)
			{
			isSuccessAndStop = false;
			LogAsync(DateTime.Now, $"轴{optionPara.AxisIndex}运动异常", ex.GetExceptionMessage());
			}
			} while (axisImmediatePauseFlag[optionPara.AxisIndex]);
			return isSuccessAndStop;
			});
			}

			/// <summary>
			@@ -1282,10 +1302,16 @@
			int axis_sts;
			var axisSettings = IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled);
			ClearStatus(1, axisSettings.Count);

			if (AxisStatusList.Count == 0)
			{
			Thread.Sleep(10);
			}

			foreach (var axisSetting in axisSettings)
			{
			//axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
			axis_sts = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex).AxisStatus;
			axis_sts = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex)?.AxisStatus ?? 0;
			if ((axis_sts & 0x200) == 0)
			{
			var rst = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisSetting.AxisIndex);