板卡操作及运行界面

wells.liu

2020-07-06 4823d6031b6081c4c25c2ada5e477a9118c549bf

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -75,10 +75,111 @@
            AllAxisOff();
        }

        /// <summary>
        /// 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 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 operationSet.PreCheckIOCollection)
                {
                    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 || (operationSet.PreCheckIOTimeout > 0 && timeout < 0))
                        {
                            break;
                        }
                    }

                    if (preCheck.CheckValue != ioData)
                    {
                        responseMessage.Result = false;
                        responseMessage.Message = $"预检查不通过，配置：{preCheck.GetDisplayText()}，当前值：{ioData}";
                        return responseMessage;
                    }
                }
            }

            // 2.板卡运动
            if (CurrentState == DeviceState.DSOpen)
            {
                responseMessage = MoveToPoint(operationSet.MotionOperationCollection);
                if (!responseMessage.Result)
                {
                    return responseMessage;
                }
            }


            // 3.IO输出 不需要超时
            if (CurrentState == DeviceState.DSOpen)
            {
                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)
                    {
                        responseMessage.Result = false;
                        responseMessage.Message = $"IO输出不通过，配置：{ioOutput.GetDisplayText()}，当前值：{ioData}";
                        return responseMessage;
                    }
                }
            }

            // 4.IO确认
            if (CurrentState == DeviceState.DSOpen)
            {
                foreach (var ioConfirm in operationSet.IOConfirmCollection)
                {
                    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 || (operationSet.IOConfirmTimeout > 0 && timeout < 0))
                        {
                            break;
                        }
                    }

                    if (ioConfirm.CheckValue != ioData)
                    {
                        responseMessage.Result = false;
                        responseMessage.Message = $"IO确认不通过，配置：{ioConfirm.GetDisplayText()}，当前值：{ioData}";
                        return responseMessage;
                    }
                }
            }

            return responseMessage;
        }
@@ -164,25 +265,22 @@
        /// <returns>运动控制+停止判断</returns>
        public override ResponseMessage MoveToPoint(IOperationConfig opConfig)
        {
            //bool resultOK = false;
            //var gtsOperationConfig = opConfig as GTSCardOperationConfig;
            //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)
            //{
            //    //var task = factory.StartNew<bool>((op) =>
            //    //{
            //    //    return SingleAxisMoving(op as MovingOption);
            //    //}, movingOp);
            //    var task = SingleAxisMoving(movingOp);
            //    taskList.Add(task);
            //}
            //Task.WaitAll(taskList.ToArray());
            //resultOK = taskList.All(u => u.GetAwaiter().GetResult());
            ResponseMessage responseMessage = new ResponseMessage();
            var gtsOperationCollection = opConfig as MotionOperationCollection;
            List<Task<bool>> taskList = new List<Task<bool>>();
            foreach (var movingOp in gtsOperationCollection.MovingOps)
            {
                var task = SingleAxisMoving(movingOp);
                taskList.Add(task);
            }

            //return resultOK;
            throw new NotImplementedException();
            Task.WaitAll(taskList.ToArray());
            responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
            if (!responseMessage.Result)
            {
                responseMessage.Message = $"点位运动异常";
            }
            return responseMessage;
        }

        /// <summary>
@@ -220,48 +318,56 @@
            return await Task.Run(() =>
            {
                bool isSuccessAndStop = false;
                if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
                try
                {
                    string _position = "";
                    string motionType = optionPara.MoveMode == EnumHelper.MotorMoveMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();

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

                    switch (optionPara.MoveMode)
                    if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
                    {
                        case MotorMoveMode.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;
                                }
                        string _position = "";
                        string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();

                                if (optionPara.IsAbsolute)
                                {
                                    isSuccessAndStop = P2PMoveAbs(optionPara);
                                }
                                else
                                {
                                    isSuccessAndStop = P2PMoveRel(optionPara);
                                }
                        _position = $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff},{optionPara.AxisIndex},{motionType},{GetPosition(optionPara.AxisIndex)},{GetPrfPosition(optionPara.AxisIndex)},{optionPara.Destination},";

                            }
                            break;
                        case MotorMoveMode.FindOri:
                            {
                                isSuccessAndStop = GoHome(optionPara);
                            }
                            break;
                        case MotorMoveMode.Jog:
                            {
                                isSuccessAndStop = JogMove(optionPara);
                            }
                            break;
                        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;
                                    }

                                    if (optionPara.IsAbsolute)
                                    {
                                        isSuccessAndStop = P2PMoveAbs(optionPara);
                                    }
                                    else
                                    {
                                        isSuccessAndStop = P2PMoveRel(optionPara);
                                    }

                                }
                                break;
                            case MotionMode.FindOri:
                                {
                                    isSuccessAndStop = GoHome(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);
                    }
                    _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;
            });
@@ -307,6 +413,41 @@
        }

        /// <summary>
        /// 获取规划速度
        /// </summary>
        /// <param name="axisNum">Axis number</param>
        /// <returns></returns>
        public double GetPrfVelocity(int axisNum)
        {
            double prfVel = 0;
            uint pclock = 0;
            var ret = GTSCardAPI.GT_GetPrfVel((short)IConfig.CardNum, (short)axisNum, out prfVel, 1, out pclock);
            if (ret != (short)GTSRetCode.GRCRunOK)
            {
                throw new Exception("轴" + axisNum + "获取规划速度异常，错误码：" + ret);
            }
            prfVel = prfVel / IConfig.AxisVelocityRatio;
            return prfVel;
        }

        /// <summary>
        /// 获取当前速度
        /// </summary>
        /// <param name="axisNum">Axis number</param>
        /// <returns></returns>
        public double GetVelocity(int axisNum)
        {
            double vel = 0;
            var ret = GTSCardAPI.GT_GetVel((short)IConfig.CardNum, (short)axisNum, out vel);
            if (ret != (short)GTSRetCode.GRCRunOK)
            {
                throw new Exception("轴" + axisNum + "获取当前速度异常，错误码：" + ret);
            }
            vel = vel / IConfig.AxisVelocityRatio;
            return vel;
        }

        /// <summary>
        /// Set Single Axis Do Jog Move  
        /// </summary>
        /// <param name="axisNum">AxisNo</param>
@@ -332,7 +473,7 @@
                    if (ret != (short)GTSRetCode.GRCRunOK)
                    {
                        LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "APS_absolute_move异常", "错误码：" + ret + ";" + "重试次数：" + repeatTime);
                        Thread.Sleep(50);
                        Thread.Sleep(10);
                    }
                    repeatTime--;
                } while (ret != (short)GTSRetCode.GRCRunOK && repeatTime > 0);
@@ -344,29 +485,6 @@
                OnExceptionRaised?.Invoke(ex);
                return false;
            }

        }

        /// <summary>
        /// Set Single Axis Do stop Jog Move  
        /// </summary>
        /// <param name="axisNum">AxisNo</param>
        /// <returns></returns>
        public bool StopJog(int axisNum)
        {
            //停止运动
            MoveStop(axisNum, 0);
            //运动开始后 检查运动是否停止
            bool isStop = false;
            int repeatTime = 1000;
            do
            {
                isStop = IsStop((short)IConfig.CardNum, (short)axisNum);
                Thread.Sleep(50);
                repeatTime--;
            } while (!isStop && repeatTime > 0);

            return isStop;
        }

        /// <summary>
@@ -406,11 +524,11 @@

                LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "开始运动", "目标坐标：" + optionPara.Destination);
                short ret = 0;
                repeatTime = 100;
                bool isSuccessSetAxisParam = false;
                int currentPosition = (int)GetPosition(optionPara.AxisIndex);
                int dPosition = optionPara.Destination + currentPosition;
                do
                int timeout = optionPara.MovingTimeout;
                while (CurrentState == DeviceState.DSOpen)
                {
                    //设置 运动参数
                    isSuccessSetAxisParam = SetAxisParam(optionPara);
@@ -422,15 +540,19 @@
                        LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "APS_absolute_move异常", "错误码：" + ret + ";" + "重试次数：" + repeatTime);
                        Thread.Sleep(50);
                    }
                    repeatTime--;
                } while (ret != (short)GTSRetCode.GRCRunOK && !isSuccessSetAxisParam && repeatTime > 0);
                    timeout -= 50;
                    if ((ret == (short)GTSRetCode.GRCRunOK && isSuccessSetAxisParam) || (optionPara.MovingTimeout > 0 && timeout < 0))
                    {
                        break;
                    }
                }

                //运动开始后 检查运动是否停止
                bool isStop = false;
                repeatTime = 1000;
                do
                {
                    isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
                    isStop = IsStop((short)optionPara.AxisIndex);
                    Thread.Sleep(50);
                    repeatTime--;
                } while (!isStop && repeatTime > 0);
@@ -477,9 +599,9 @@
                }
                LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "开始运动", "目标坐标：" + optionPara.Destination);
                short ret = 0;
                repeatTime = 100;
                bool isSuccessSetAxisParam = false;
                do
                int timeout = optionPara.MovingTimeout;
                while (CurrentState == DeviceState.DSOpen)
                {
                    //设置 运动参数
                    isSuccessSetAxisParam = SetAxisParam(optionPara);
@@ -491,14 +613,18 @@
                        LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "APS_absolute_move异常", "错误码：" + ret + ";" + "重试次数：" + repeatTime);
                        Thread.Sleep(50);
                    }
                    repeatTime--;
                } while (ret != (short)GTSRetCode.GRCRunOK && !isSuccessSetAxisParam && repeatTime > 0);
                    timeout -= 50;
                    if ((ret == (short)GTSRetCode.GRCRunOK && isSuccessSetAxisParam) || (optionPara.MovingTimeout > 0 && timeout < 0))
                    {
                        break;
                    }
                }

                bool isStop = false;
                repeatTime = 1000;
                do
                {
                    isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
                    isStop = IsStop((short)optionPara.AxisIndex);
                    Thread.Sleep(50);
                    repeatTime--;
                } while (!isStop && repeatTime > 0);
@@ -541,7 +667,7 @@
                int repeatTime = 100;
                do
                {
                    isStop = IsStop((short)IConfig.CardNum, (short)axisNum);
                    isStop = IsStop((short)axisNum);
                    Thread.Sleep(10);
                    repeatTime--;
                } while (!isStop && repeatTime > 0);
@@ -637,14 +763,13 @@
        /// <summary>
        /// 读取IO输出
        /// </summary>
        /// <param name="cardNum"></param>
        /// <param name="index"></param>
        /// <param name="index">io索引</param>
        /// <returns></returns>
        public bool GetDoSts(short cardNum, short index)
        public bool GetDoSts(short index)
        {
            int outSts;
            short outNum = (short)(index % 100);
            GTSCardAPI.GT_GetDo(cardNum, GTSCardAPI.MC_GPO, out outSts);
            GTSCardAPI.GT_GetDo((short)IConfig.CardNum, GTSCardAPI.MC_GPO, out outSts);
            if ((outSts & (1 << outNum)) == 0) return true;
            else return false;
        }
@@ -652,20 +777,19 @@
        /// <summary>
        /// 按位设置数字 IO 输出状态
        /// </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 override void WriteOutput(short cardNum, short index, IOValue value)
        public override void WriteOutput(short index, IOValue value)
        {
            short outNum = (short)(index % 100 + 1);
            if ((int)value <= 1)
            {
                GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, (short)value);
                GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)value);
            }
            else
            {
                var currentValue = (int)MonitorValues.FirstOrDefault(u => u.IONum == outNum && u.IOType == IOType.OUTPUT).Value;
                GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, (short)(currentValue == 1 ? 0 : 1));
                GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)(currentValue == 1 ? 0 : 1));
            }
        }

@@ -675,23 +799,53 @@
        /// <param name="cardNum">板卡号</param>
        /// <param name="axisNum">轴号</param>
        /// <returns></returns>
        public bool IsStop(short cardNum, short axisNum)
        public bool IsStop(short axisNum)
        {
            int sts = GetAxisStatus(axisNum);
            if ((sts & 0x400) == 0) return true;//停止返回true
            else return false;              //运行中返回false
        }

        /// <summary>
        /// 读取轴状态
        /// </summary>
        /// <param name="cardNum">板卡号</param>
        /// <param name="axisNum">轴号</param>
        /// <returns></returns>
        public int GetAxisStatus(int 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
                GTSCardAPI.GT_GetSts((short)IConfig.CardNum, (short)axisNum, out sts, 1, out pclock);
                return sts;
            }
        }

        #endregion

        #region IMonitor

        //public List<IOItem> MonitorValues { get; set; } = new List<IOItem>();
        public List<AxisMovingStatus> GetAxisMovingStatus()
        {
            List<AxisMovingStatus> axisMovingStatusesList = new List<AxisMovingStatus>();
            foreach (var axisConfig in IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled))
            {
                AxisMovingStatus axisMovingStatus = new AxisMovingStatus();
                axisMovingStatus.AxisIndex = axisConfig.AxisIndex;
                axisMovingStatus.AxisName = axisConfig.AxisName;
                axisMovingStatus.CurPosition = Convert.ToInt32(GetPosition(axisMovingStatus.AxisIndex));
                axisMovingStatus.Destination = Convert.ToInt32(GetPrfPosition(axisMovingStatus.AxisIndex));
                axisMovingStatus.CurVelocity = GetVelocity(axisMovingStatus.AxisIndex);
                axisMovingStatus.PrfVelocity = GetPrfVelocity(axisMovingStatus.AxisIndex);
                axisMovingStatus.AxisStatus = GetAxisStatus(axisMovingStatus.AxisIndex);

                axisMovingStatusesList.Add(axisMovingStatus);

            }

            return axisMovingStatusesList;
        }


        public List<IOItem> GetMonitorValues()
@@ -737,7 +891,8 @@
                        if (!IConfig.IsEnableMonitor)
                            return;
                        var newValues = GetMonitorValues();
                        if (newValues == null || newValues.Count == 0)
                        var newAxisMovingStatus = GetAxisMovingStatus();
                        if (newValues == null || newValues.Count == 0 || newAxisMovingStatus == null || newAxisMovingStatus.Count == 0)
                            continue;

                        Stopwatch sw = new Stopwatch();
@@ -748,6 +903,8 @@
                            var tempOld = MonitorValues.DeepSerializeClone();
                            MonitorCheckAndInvoke(tempNew, tempOld);
                        }

                        AxisMovingOptionValues = new List<AxisMovingStatus>(newAxisMovingStatus);
                        MonitorValues = new List<IOItem>(newValues);
                        sw.Stop();

@@ -853,12 +1010,11 @@
        public override void ResetAlarm()
        {
            int axis_sts;
            uint clk;
            var axisSettings = IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled);
            GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, 1, (short)axisSettings.Count);
            foreach (var axisSetting in axisSettings)
            {
                GTSCardAPI.GT_GetSts((short)IConfig.CardNum, (short)axisSetting.AxisIndex, out axis_sts, 1, out clk);
                axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
                if ((axis_sts & 0x200) == 0)
                {
                    var rst = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisSetting.AxisIndex);