Merge branch 'master' of http://gitblit.broconcentric.com:8088/r/M071

wells.liu

2020-09-07 1491846b4736bc2e79604086acfd8544aa3ba384

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -443,7 +443,7 @@
                {
                    axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();

                    if (!axisPauseResumeFlag[optionPara.AxisIndex])
                    if (axisPauseResumeFlag.ContainsKey(optionPara.AxisIndex) && !axisPauseResumeFlag[optionPara.AxisIndex])
                        return true;

                    try
@@ -492,7 +492,7 @@
                        isSuccessAndStop = false;
                        LogAsync(DateTime.Now, $"轴{optionPara.AxisIndex}运动异常", ex.GetExceptionMessage());
                    }
                } while (axisImmediatePauseFlag[optionPara.AxisIndex]);
                } while (axisImmediatePauseFlag.ContainsKey(optionPara.AxisIndex) && axisImmediatePauseFlag[optionPara.AxisIndex]);
                return isSuccessAndStop;
            });
        }
@@ -891,19 +891,12 @@
                var goHomePara = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == movingOption.AxisIndex).GoHomePara;
                bool homeDirection = goHomePara.IsHomeDirPositive;
                bool isRightLimitReached = false;

            StartCapture:

                PositionReset(movingOption.AxisIndex, 1);
                ClearStatus(movingOption.AxisIndex, 1);
                short capture = 0;

                GTSCardAPI.TTrapPrm trapPrm;
                bool isStop = false;
                //搜索距离 阶段1
                // 启动Home捕获
                short sRtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);

                // 切换到点位运动模式
                sRtn = GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)movingOption.AxisIndex);
                short sRtn = GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)movingOption.AxisIndex);
                // 读取点位模式运动参数
                sRtn = GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out trapPrm);
                trapPrm.acc = movingOption.VelocityPara.Acc;
@@ -913,88 +906,99 @@
                // 设置点位模式目标速度，即回原点速度
                sRtn = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)movingOption.AxisIndex, goHomePara.HighVelocity);

                // 设置点位模式目标位置，即原点搜索距离
                sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, homeDirection ? 99999999 : -99999999);
                // 启动运动
                sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));

                int repeatTime = goHomePara.GoHomeTimeOut * 1000;
                short capture;
                int pos;
                uint clk;//时钟参数
                do
                {
                    Thread.Sleep(IConfig.MonitorInterval);
                    // 读取捕获状态
                    GTSCardAPI.GT_GetCaptureStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out capture, out pos, 1, out clk);
                    isStop = IsStop((short)movingOption.AxisIndex);
                    repeatTime -= IConfig.MonitorInterval;
                } while (!(isStop || capture == 1 || repeatTime <= 0));
                    PositionReset(movingOption.AxisIndex, 1);
                    ClearStatus(movingOption.AxisIndex, 1);

                if (repeatTime <= 0)
                {
                    MoveStop((short)movingOption.AxisIndex, 0);
                    throw new ProcessException($"运动轴{movingOption.AxisIndex} ，回原点超时异常");
                }
                    //搜索距离 阶段1
                    // 启动Home捕获
                    sRtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);

                if (isStop && capture != 1)
                {
                    ClearStatus((short)movingOption.AxisIndex, 1);
                    // 设置点位模式目标位置，即原点搜索距离
                    sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, homeDirection ? 99999999 : -99999999);
                    // 启动运动
                    sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));

                    int repeatTime = goHomePara.GoHomeTimeOut * 1000;

                    bool isStop = false;
                    int pos;
                    uint clk;//时钟参数
                    do
                    {
                        Thread.Sleep(IConfig.MonitorInterval * 5);
                        // 读取捕获状态
                        GTSCardAPI.GT_GetCaptureStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out capture, out pos, 1, out clk);
                        isStop = IsStop((short)movingOption.AxisIndex);
                        repeatTime -= IConfig.MonitorInterval * 5;
                    } while (!(isStop || capture == 1 || repeatTime <= 0));

                    if (repeatTime <= 0)
                    {
                        MoveStop((short)movingOption.AxisIndex, 0);
                        throw new ProcessException($"运动轴{movingOption.AxisIndex} ，回原点超时异常");
                    }

                    var axisStatus = AxisStatusList.FirstOrDefault(u => u.AxisIndex == movingOption.AxisIndex);

                    if (((axisStatus.AxisStatus & 0x20) != 0) || ((axisStatus.AxisStatus & 0x40) != 0))
                    if (isStop && capture != 1)
                    {
                        //movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);

                        //正限位
                        if ((axisStatus.AxisStatus & 0x20) != 0 && !goHomePara.IsCaptureDirPositive)
                        if (((axisStatus.AxisStatus & 0x20) != 0) || ((axisStatus.AxisStatus & 0x40) != 0))
                        {
                            isRightLimitReached = true;
                            //movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);

                            //正限位
                            if ((axisStatus.AxisStatus & 0x20) != 0 && !goHomePara.IsCaptureDirPositive)
                            {
                                isRightLimitReached = true;
                            }

                            //负限位
                            if ((axisStatus.AxisStatus & 0x40) != 0 && goHomePara.IsCaptureDirPositive)
                            {
                                isRightLimitReached = true;
                            }

                            homeDirection = !homeDirection;
                        }

                        ClearStatus(movingOption.AxisIndex, 1);
                    }

                        //负限位
                        if ((axisStatus.AxisStatus & 0x40) != 0 && goHomePara.IsCaptureDirPositive)
                    if (capture == 1)
                    {
                        if (!isRightLimitReached)
                        {
                            isRightLimitReached = true;
                            capture = 0;
                            ClearStatus(movingOption.AxisIndex, 1);
                            //GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
                            continue;
                        }

                        homeDirection = !homeDirection;
                        goto StartCapture;
                        //先stop
                        MoveStop((short)movingOption.AxisIndex, 0);
                        ClearStatus((short)movingOption.AxisIndex, 1);

                        //已经捕获到Home才可以回零 阶段2
                        // 运动到"捕获位置+偏移量"
                        sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, pos + goHomePara.HomeOffset);
                        // 在运动状态下更新目标位置
                        sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
                        isStop = false;

                        repeatTime = 1000;
                        do
                        {
                            Thread.Sleep(20);
                            isStop = IsStop((short)movingOption.AxisIndex);
                            repeatTime--;
                        } while (!isStop && repeatTime > 0);
                        PositionReset(movingOption.AxisIndex, 1);
                        return (sRtn == (short)GTSRetCode.GRCRunOK) && isStop;
                    }

                    throw new ProcessException($"运动轴{movingOption.AxisIndex} ，回原点超时异常");
                }

                if (capture == 1)
                {
                    if (!isRightLimitReached)
                    {
                        capture = 0;
                        goto StartCapture;
                    }

                    //先stop
                    MoveStop((short)movingOption.AxisIndex, 0);
                    ClearStatus((short)movingOption.AxisIndex, 1);
                    //已经捕获到Home才可以回零 阶段2
                    // 运动到"捕获位置+偏移量"
                    sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, pos + goHomePara.HomeOffset);
                    // 在运动状态下更新目标位置
                    sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
                    isStop = false;

                    repeatTime = 1000;
                    do
                    {
                        Thread.Sleep(20);
                        isStop = IsStop((short)movingOption.AxisIndex);
                        repeatTime--;
                    } while (!isStop && repeatTime > 0);
                    PositionReset(movingOption.AxisIndex, 1);
                    return (sRtn == (short)GTSRetCode.GRCRunOK) && isStop;
                }
                } while (!(capture == 1 && isRightLimitReached));
                return false;
            }
            catch (Exception ex)