数据库操作

wells.liu

2020-07-04 4cb676856f0c791ffcbef569c0ca8195bf8b0938

 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);
                                }