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

wells.liu

2020-07-13 54f0329172de152cf95644f6d427971542e9f42c

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -118,11 +118,17 @@
            {
                foreach (var operationSet in motionCardOperationConfig.OperationCollection)
                {
                    if (operationSet.DelayBefore > 0)
                        Thread.Sleep(operationSet.DelayBefore);

                    responseMessage = RunOperationSet(operationSet);
                    if (!responseMessage.Result)
                    {
                        return responseMessage;
                    }

                    if (operationSet.DelayAfter > 0)
                        Thread.Sleep(operationSet.DelayAfter);
                }
            }
            return responseMessage;
@@ -177,13 +183,16 @@
            {
                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;
                    }
                    WriteOutput((short)ioOutput.IOItem.IONum, ioOutput.CheckValue);

                    //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;
                    //}
                }
            }

@@ -338,15 +347,22 @@
            ResponseMessage responseMessage = new ResponseMessage();
            if (opConfig is MotionOperationCollection gtsOperationCollection)
            {
                List<Task<bool>> taskList = new List<Task<bool>>();
                foreach (var movingOp in gtsOperationCollection.MovingOps)
                //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 =>
                {
                    var task = SingleAxisMoving(movingOp);
                    taskList.Add(task);
                    task.Start();
                }
                Task.WaitAll(taskList.ToArray());
                responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
                    resultList.Add(SingleAxisMoving(movingOp).Result);
                });
                responseMessage.Result = resultList.All(u => u == true);
                if (!responseMessage.Result)
                {
                    responseMessage.Message = $"点位运动异常";
@@ -368,11 +384,23 @@
            resultCode.Add(GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, axisIndex));
            resultCode.Add(GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, axisIndex, out trapprm));
            trapprm.smoothTime = 1;
            trapprm.acc = optionPara.VelocityPara.Acc != 0 ? optionPara.VelocityPara.Acc : 1;
            trapprm.dec = optionPara.VelocityPara.Dec != 0 ? optionPara.VelocityPara.Dec : 1;

            if (optionPara.VelocityPara.Acc != 0)
            {
                trapprm.acc = optionPara.VelocityPara.Acc;
            }

            if (optionPara.VelocityPara.Dec != 0)
            {
                trapprm.dec = optionPara.VelocityPara.Dec;
            }

            resultCode.Add(GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, axisIndex, ref trapprm));
            resultCode.Add(GTSCardAPI.GT_SetVel((short)IConfig.CardNum, axisIndex, optionPara.VelocityPara.Velocity * IConfig.AxisVelocityRatio));

            if (optionPara.VelocityPara.Velocity != 0)
            {
                resultCode.Add(GTSCardAPI.GT_SetVel((short)IConfig.CardNum, axisIndex, optionPara.VelocityPara.Velocity * IConfig.AxisVelocityRatio));
            }

            var resultOK = resultCode.All(u => u == (short)GTSRetCode.GRCRunOK);
            if (!resultOK)
@@ -389,7 +417,7 @@
        /// <param name="optionPara">运动参数对象</param>
        public override Task<bool> SingleAxisMoving(MovingOption optionPara)
        {
            return new Task<bool>(() =>
            return Task.Run(() =>
             {
                 axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
                 bool isSuccessAndStop = false;
@@ -397,10 +425,10 @@
                 {
                     if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
                     {
                         string _position = "";
                         // string _position = "";
                         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},";
                         // _position = $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff},{optionPara.AxisIndex},{motionType},{GetPosition(optionPara.AxisIndex)},{GetPrfPosition(optionPara.AxisIndex)},{optionPara.Destination},";

                         switch (optionPara.MoveMode)
                         {
@@ -435,9 +463,9 @@
                                 }
                                 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)
@@ -680,7 +708,7 @@
                short ret = 0;
                bool isSuccessSetAxisParam = false;
                int timeout = optionPara.MovingTimeout;
                var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex).AxisRatio;
                //var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex).AxisRatio;
                while (CurrentState == DeviceState.DSOpen && !_isPause)
                {
                    //设置 运动参数
@@ -774,63 +802,63 @@
            var resultOK = taskList.All(u => u.GetAwaiter().GetResult());
        }

        /// <summary>
        /// 回原点
        /// </summary>
        /// <param name="movingOption">卡号</param>
        /// <param name="axisn">轴号</param>
        /// <param name="homests">轴回原点状态</param>
        public bool GoHome(MovingOption movingOption)
        {
            try
            {
                PositionReset(movingOption.AxisIndex, 1);
                GTSCardAPI.THomePrm thomeprm;
                GTSCardAPI.THomeStatus homests;
                // 启动Home捕获
                short rtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
                // 切换到点位运动模式
                rtn = GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)movingOption.AxisIndex);
                // 读取点位模式运动参数
                rtn = GTSCardAPI.GT_GetHomePrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out thomeprm);
        ///// <summary>
        ///// 回原点
        ///// </summary>
        ///// <param name="movingOption">卡号</param>
        ///// <param name="axisn">轴号</param>
        ///// <param name="homests">轴回原点状态</param>
        //public bool GoHome(MovingOption movingOption)
        //{
        //    try
        //    {
        //        PositionReset(movingOption.AxisIndex, 1);
        //        GTSCardAPI.THomePrm thomeprm;
        //        GTSCardAPI.THomeStatus homests;
        //        // 启动Home捕获
        //        short rtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
        //        // 切换到点位运动模式
        //        rtn = GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)movingOption.AxisIndex);
        //        // 读取点位模式运动参数
        //        rtn = GTSCardAPI.GT_GetHomePrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out thomeprm);

                thomeprm.mode = movingOption.GoHomePara.HomeMode;//回零方式
                thomeprm.moveDir = movingOption.GoHomePara.HomeDir;//回零方向
                thomeprm.edge = movingOption.GoHomePara.Edge;
                thomeprm.velHigh = movingOption.GoHomePara.HighVelocity;
                thomeprm.velLow = movingOption.GoHomePara.LowVelocity;
                thomeprm.acc = movingOption.VelocityPara.Acc;
                thomeprm.dec = movingOption.VelocityPara.Dec;
                thomeprm.searchHomeDistance = movingOption.GoHomePara.SearchHomeDistance;//搜索距离
                thomeprm.homeOffset = movingOption.GoHomePara.HomeOffset;  //偏移距离
                thomeprm.escapeStep = movingOption.GoHomePara.EscapeStep;
                rtn = GTSCardAPI.GT_GoHome((short)IConfig.CardNum, (short)movingOption.AxisIndex, ref thomeprm);  //启动回零
        //        thomeprm.mode = movingOption.GoHomePara.HomeMode;//回零方式
        //        thomeprm.moveDir = movingOption.GoHomePara.HomeDir;//回零方向
        //        thomeprm.edge = movingOption.GoHomePara.Edge;
        //        thomeprm.velHigh = movingOption.GoHomePara.HighVelocity;
        //        thomeprm.velLow = movingOption.GoHomePara.LowVelocity;
        //        thomeprm.acc = movingOption.VelocityPara.Acc;
        //        thomeprm.dec = movingOption.VelocityPara.Dec;
        //        thomeprm.searchHomeDistance = movingOption.GoHomePara.SearchHomeDistance;//搜索距离
        //        thomeprm.homeOffset = movingOption.GoHomePara.HomeOffset;  //偏移距离
        //        thomeprm.escapeStep = movingOption.GoHomePara.EscapeStep;
        //        rtn = GTSCardAPI.GT_GoHome((short)IConfig.CardNum, (short)movingOption.AxisIndex, ref thomeprm);  //启动回零

                bool isStop = false;
                int repeatTime = 1000;
                do
                {
                    Thread.Sleep(10);
                    GTSCardAPI.GT_GetHomeStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out homests);
        //        bool isStop = false;
        //        int repeatTime = 1000;
        //        do
        //        {
        //            Thread.Sleep(10);
        //            GTSCardAPI.GT_GetHomeStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out homests);

                    isStop = homests.run == 0;
                    if (isStop && homests.error == 0)
                    {
                        Thread.Sleep(200);
                        PositionReset(movingOption.AxisIndex, 1);
                    }
                    repeatTime--;
                } while (!isStop && repeatTime > 0);
        //            isStop = homests.run == 0;
        //            if (isStop && homests.error == 0)
        //            {
        //                Thread.Sleep(200);
        //                PositionReset(movingOption.AxisIndex, 1);
        //            }
        //            repeatTime--;
        //        } while (!isStop && repeatTime > 0);

                return isStop;
            }
            catch (Exception ex)
            {
                AllMoveStop(true);
                OnExceptionOccured?.Invoke(DateTime.Now, ex);
                return false;
            }
        }
        //        return isStop;
        //    }
        //    catch (Exception ex)
        //    {
        //        AllMoveStop(true);
        //        OnExceptionOccured?.Invoke(DateTime.Now, ex);
        //        return false;
        //    }
        //}

        /// <summary>
        /// P2P方式回原点
@@ -840,8 +868,11 @@
        {
            try
            {
                StartCapture:

                PositionReset(movingOption.AxisIndex, 1);
                ClearStatus(movingOption.AxisIndex, 1);

                GTSCardAPI.TTrapPrm trapPrm;
                bool isStop = false;
                //搜索距离 阶段1
@@ -857,8 +888,9 @@
                sRtn = GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, ref trapPrm);
                // 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, movingOption.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, movingOption.GoHomePara.SearchHomeDistance);
                sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, movingOption.GoHomePara.HomeDir == 1 ? 99999999 : -99999999);
                // 启动运动
                sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));

@@ -880,10 +912,19 @@
                    MoveStop((short)movingOption.AxisIndex, 0);
                    throw new ProcessException($"运动轴{movingOption.AxisIndex} ，回原点超时异常");
                }

                if (isStop && capture != 1)
                {

                    ClearStatus((short)movingOption.AxisIndex, 1);

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

                    if (((axisStatus.AxisStatus & 0x20) != 0) || ((axisStatus.AxisStatus & 0x40) != 0))
                    {
                        movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);
                        goto StartCapture;
                    }

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

@@ -957,7 +998,7 @@
            short outNum = (short)(index % 100 + 1);
            if ((int)value <= 1)
            {
                GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)value);
                GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, IConfig.IsOutputReversed ? (short)(value == IOValue.TRUE ? 0 : 1) : (short)value);
            }
            else
            {
@@ -1091,8 +1132,8 @@
                        if (newValues == null || newValues.Count == 0 || newAxisMovingStatus == null || newAxisMovingStatus.Count == 0)
                            continue;

                        Stopwatch sw = new Stopwatch();
                        sw.Start();
                        //Stopwatch sw = new Stopwatch();
                        //sw.Start();
                        if (MonitorValues.Count == newValues.Count)
                        {
                            //var tempNew = newValues.DeepSerializeClone();//clone
@@ -1111,12 +1152,12 @@

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

                        if (sw.ElapsedMilliseconds > 20)
                        {
                            LogAsync(DateTime.Now, $"{this.Name}轮询时间：{sw.ElapsedMilliseconds}", "");
                        }
                        //if (sw.ElapsedMilliseconds > 20)
                        //{
                        //    LogAsync(DateTime.Now, $"{this.Name}轮询时间：{sw.ElapsedMilliseconds}", "");
                        //}

                        if (IConfig.MonitorInterval > 0)
                        {
@@ -1223,10 +1264,11 @@
                            monitorSet.OpConfig = new OperationConfigBase();
                        }

                        monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
                        {
                            return tempNew[index].Value == IOValue.TRUE ? 1 : 0;
                        }).ToList();
                        //monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
                        //{
                        //    return tempNew[index].Value == IOValue.TRUE ? 1 : 0;
                        //}).ToList();
                        monitorSet.OpConfig.InputPara = new List<int>() { (int)newIOItem.Value };

                        ExcuteMonitorInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet);
                    }
@@ -1248,8 +1290,8 @@
                {
                    var rst = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisSetting.AxisIndex);
                }
                // 所有位置请零
                PositionReset(1, axisSettings.Count);
                //// 所有位置请零
                //PositionReset(1, axisSettings.Count);
                // 正极限报警
                if ((axis_sts & 0x20) != 0)
                {