merge

xcd

2020-07-06 0f71990dc60af6e96c9f4c2f2095ca6711e2c870

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -76,27 +76,44 @@
        }

        /// <summary>
        /// 设备 运行
        /// 设备 运行（执行 板卡系列的操作的 集合）
        /// </summary>
        /// <param name="config"></param>
        /// <returns></returns>
        public override ResponseMessage Run(IOperationConfig config)
        {
            ResponseMessage responseMessage = new ResponseMessage();
            var opConfig = config as GTSCardOperationConfig;
            var motionCardOperationConfig = config as MotionCardOperationConfigBase;
            foreach (var operationSet in motionCardOperationConfig.OperationCollection)
            {
                responseMessage = RunOperationSet(operationSet);
                if (!responseMessage.Result)
                {
                    return responseMessage;
                }
            }
            return responseMessage;
        }

        /// <summary>
        /// 执行 一个系列的操作
        /// </summary>
        private ResponseMessage RunOperationSet(MotionCardOperationSet operationSet)
        {
            ResponseMessage responseMessage = new ResponseMessage();
            // 1.预检查
            if (CurrentState == DeviceState.DSOpen)
            {
                foreach (var preCheck in opConfig.PreCheckIOCollection)
                foreach (var preCheck in operationSet.PreCheckIOCollection)
                {
                    int timeout = opConfig.PreCheckIOTimeout;
                    int? ioData = null;
                    int timeout = operationSet.PreCheckIOTimeout;
                    IOValue? ioData = null;
                    while (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 || (opConfig.PreCheckIOTimeout > 0 && timeout < 0))
                        if (preCheck.CheckValue == ioData || (operationSet.PreCheckIOTimeout > 0 && timeout < 0))
                        {
                            break;
                        }
@@ -114,8 +131,7 @@
            // 2.板卡运动
            if (CurrentState == DeviceState.DSOpen)
            {
                responseMessage = MoveToPoint(opConfig);

                responseMessage = MoveToPoint(operationSet.MotionOperationCollection);
                if (!responseMessage.Result)
                {
                    return responseMessage;
@@ -126,7 +142,7 @@
            // 3.IO输出 不需要超时
            if (CurrentState == DeviceState.DSOpen)
            {
                foreach (var ioOutput in opConfig.IOOutputCollection)
                foreach (var ioOutput in operationSet.IOOutputCollection)
                {
                    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)
@@ -141,16 +157,16 @@
            // 4.IO确认
            if (CurrentState == DeviceState.DSOpen)
            {
                foreach (var ioConfirm in opConfig.IOConfirmCollection)
                foreach (var ioConfirm in operationSet.IOConfirmCollection)
                {
                    int timeout = opConfig.IOConfirmTimeout;
                    int? ioData = null;
                    int timeout = operationSet.IOConfirmTimeout;
                    IOValue? ioData = null;
                    while (CurrentState == DeviceState.DSOpen)
                    {
                        Thread.Sleep(10);
                        ioData = MonitorValues.FirstOrDefault(u => u.IONum == ioConfirm.IOItem.IONum && u.IOType == ioConfirm.IOItem.IOType)?.Value;//IO 是开、关 从MonitorValues 获取
                        timeout -= 10;
                        if (ioConfirm.CheckValue == ioData || (opConfig.IOConfirmTimeout > 0 && timeout < 0))
                        if (ioConfirm.CheckValue == ioData || (operationSet.IOConfirmTimeout > 0 && timeout < 0))
                        {
                            break;
                        }
@@ -250,19 +266,14 @@
        public override ResponseMessage MoveToPoint(IOperationConfig opConfig)
        {
            ResponseMessage responseMessage = new ResponseMessage();
            var gtsOperationConfig = opConfig as GTSCardOperationConfig;
            var gtsOperationCollection = opConfig as MotionOperationCollection;
            List<Task<bool>> taskList = new List<Task<bool>>();
            //TaskFactory factory = new TaskFactory(TaskCreationOptions.LongRunning, TaskContinuationOptions.None);
            // 如果是多个轴的运动 等每个轴运动结束
            foreach (var movingOp in gtsOperationConfig.MovingOps)
            foreach (var movingOp in gtsOperationCollection.MovingOps)
            {
                //var task = factory.StartNew<bool>((op) =>
                //{
                //    return SingleAxisMoving(op as MovingOption);
                //}, movingOp);
                var task = SingleAxisMoving(movingOp);
                taskList.Add(task);
            }

            Task.WaitAll(taskList.ToArray());
            responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
            if (!responseMessage.Result)
@@ -312,13 +323,13 @@
                    if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
                    {
                        string _position = "";
                        string motionType = optionPara.MoveMode == EnumHelper.MotorMoveMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();
                        string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();

                        _position = $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff},{optionPara.AxisIndex},{motionType},{GetPosition(optionPara.AxisIndex)},{GetPrfPosition(optionPara.AxisIndex)},{optionPara.Destination},";

                        switch (optionPara.MoveMode)
                        {
                            case MotorMoveMode.Normal:
                            case MotionMode.Normal:
                                {
                                    if (_isResetting)
                                    {
@@ -337,12 +348,12 @@

                                }
                                break;
                            case MotorMoveMode.FindOri:
                            case MotionMode.FindOri:
                                {
                                    isSuccessAndStop = GoHome(optionPara);
                                }
                                break;
                            case MotorMoveMode.Jog:
                            case MotionMode.Jog:
                                {
                                    isSuccessAndStop = JogMove(optionPara);
                                }
@@ -756,16 +767,17 @@
        /// </summary>
        /// <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 index, bool value)
        public override void WriteOutput(short index, IOValue value)
        {
            short outNum = (short)(index % 100 + 1);
            if (value)
            if ((int)value <= 1)
            {
                GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, 0);
                GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)value);
            }
            else
            {
                GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, 1);
                var currentValue = (int)MonitorValues.FirstOrDefault(u => u.IONum == outNum && u.IOType == IOType.OUTPUT).Value;
                GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)(currentValue == 1 ? 0 : 1));
            }
        }

@@ -791,7 +803,7 @@

        #region IMonitor

        public List<IOItem> MonitorValues { get; set; } = new List<IOItem>();
        //public List<IOItem> MonitorValues { get; set; } = new List<IOItem>();


        public List<IOItem> GetMonitorValues()
@@ -810,13 +822,13 @@
                IOItem inItem = new IOItem()
                {
                    IONum = index,
                    Value = (inValue & (1 << index)) == 0 ? 1 : 0,
                    Value = (inValue & (1 << index)) == 0 ? IOValue.TRUE : IOValue.FALSE,
                    IOType = IOType.INPUT
                };
                IOItem outItem = new IOItem()
                {
                    IONum = index,
                    Value = (outValue & (1 << index)) == 0 ? 1 : 0,
                    Value = (outValue & (1 << index)) == 0 ? IOValue.TRUE : IOValue.FALSE,
                    IOType = IOType.OUTPUT
                };
                result.Add(inItem);
@@ -873,7 +885,7 @@
            });
        }

        private void OnMethodInvoked(IAsyncResult ar)
        public override void OnMethodInvoked(IAsyncResult ar)
        {
            MotionCardMonitorSet monitorSet = ar.AsyncState as MotionCardMonitorSet;
            ProcessResponse resValues = monitorSet.Response;
@@ -905,13 +917,12 @@
            {
                MotionCardWarningSet warningSet = wSet as MotionCardWarningSet;

                bool isOn = ((tempNew.FirstOrDefault(u => u.IONum == warningSet.TriggerIndex && u.IOType == warningSet.WarningIOModel)?.Value >> warningSet.TriggerIndex) & 1) == (warningSet.TriggerValue ? 1 : 0);
                bool isOn = (((int)((tempNew.FirstOrDefault(u => u.IONum == warningSet.TriggerIndex && u.IOType == warningSet.WarningIOModel)?.Value)) >> warningSet.TriggerIndex) & 1) == (warningSet.TriggerValue ? 1 : 0);

                if (warningSet.CurrentStatus != isOn)
                {
                    warningSet.CurrentStatus = isOn;
                    warningSet.TriggerTime = DateTime.Now;
                    warningSet.WarningDescription = $"警报：{warningSet.Name}-触发索引：{warningSet.TriggerIndex}-{warningSet.WarningIOModel.GetEnumDescription()}:{warningSet.WarningCode}";
                    SaveAlarmCSVAsync(DateTime.Now, this.Name, warningSet);
                    ExcuteMonitorAlarm(DateTime.Now, this, warningSet);
                }
@@ -932,7 +943,7 @@

                if (newIOItem?.Value != oldIOItem?.Value)
                {
                    if (monitorSet.TriggerValue == -999 || newIOItem.Value == monitorSet.TriggerValue)
                    if (monitorSet.TriggerValue == -999 || (int)newIOItem.Value == monitorSet.TriggerValue)
                    {
                        if (monitorSet.OpConfig == null)
                        {
@@ -944,7 +955,7 @@
                        //    return tempNew[index].Value;
                        //}).ToList();

                        ExcuteMonitorInvok(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet, OnMethodInvoked);
                        ExcuteMonitorInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet);
                    }
                }
            });