M071.git - Gitblit

			@@ -21,7 +21,7 @@
			public class GTSCardDriver : MotionCardBase
			{
			// 异常事件
			public Action<Exception> OnExceptionRaised;
			//public Action<Exception> OnExceptionRaised;

			public GTSCardInitialConfig IIConfig
			{
			@@ -61,7 +61,7 @@
			{
			AxisInfo axisInfo = new AxisInfo();
			axisInfo.AxisName = axisSetting.AxisName;
			var axisMovingStatus = AxisMovingOptionValues.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex);
			var axisMovingStatus = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex);
			axisInfo.AxisLocation = axisMovingStatus == null ? 0 : Convert.ToDouble(axisMovingStatus.CurPosition);

			axisInfos.Add(axisInfo);
			@@ -220,7 +220,7 @@
			/// <summary>
			/// 启动立即暂停
			/// </summary>
			public void SetImmediatePause()
			public override void SetImmediatePause()
			{
			if (!_isResetting)
			{
			@@ -240,7 +240,7 @@
			/// <summary>
			/// 恢复立即暂停
			/// </summary>
			public void ResetImmediatePause()
			public override void ResetImmediatePause()
			{
			var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();

			@@ -554,7 +554,7 @@
			catch (Exception ex)
			{
			AllMoveStop(true);
			OnExceptionRaised?.Invoke(ex);
			OnExceptionOccured?.Invoke(DateTime.Now, ex);
			return false;
			}
			}
			@@ -635,7 +635,7 @@
			catch (Exception ex)
			{
			AllMoveStop(true);
			OnExceptionRaised?.Invoke(ex);
			OnExceptionOccured?.Invoke(DateTime.Now, ex);
			return false;
			}
			}
			@@ -710,7 +710,7 @@
			catch (Exception ex)
			{
			AllMoveStop(true);
			OnExceptionRaised?.Invoke(ex);
			OnExceptionOccured?.Invoke(DateTime.Now, ex);
			return false;
			}
			}
			@@ -817,7 +817,7 @@
			catch (Exception ex)
			{
			AllMoveStop(true);
			OnExceptionRaised?.Invoke(ex);
			OnExceptionOccured?.Invoke(DateTime.Now, ex);
			return false;
			}
			}
			@@ -857,7 +857,7 @@
			/// <param name="value">false表示输出，true表示关闭</param>
			public override void WriteOutput(short index, IOValue value)
			{
			short outNum = (short)(index % 100 + 1);
			short outNum = (short)(index % 100);
			if ((int)value <= 1)
			{
			GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)value);
			@@ -877,7 +877,7 @@
			/// <returns></returns>
			public bool IsStop(short axisNum)
			{
			int sts = GetAxisStatus(axisNum);
			int sts = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisNum).AxisStatus;
			if ((sts & 0x400) == 0) return true;//停止返回true
			else return false; //运行中返回false
			}
			@@ -987,8 +987,10 @@
			{
			if (!IConfig.IsEnableMonitor)
			return;

			var newValues = GetMonitorValues();
			var newAxisMovingStatus = GetAxisMovingStatus();

			if (newValues == null \|\| newValues.Count == 0 \|\| newAxisMovingStatus == null \|\| newAxisMovingStatus.Count == 0)
			continue;

			@@ -996,12 +998,21 @@
			sw.Start();
			if (MonitorValues.Count == newValues.Count)
			{
			var tempNew = newValues.DeepSerializeClone();//clone
			var tempOld = MonitorValues.DeepSerializeClone();
			//var tempNew = newValues.DeepSerializeClone();//clone
			//var tempOld = MonitorValues.DeepSerializeClone();
			var tempNew = new List<IOItem>(newValues);//clone
			var tempOld = new List<IOItem>(MonitorValues);
			MonitorCheckAndInvoke(tempNew, tempOld);
			}

			AxisMovingOptionValues = new List<AxisMovingStatus>(newAxisMovingStatus);
			if (AxisStatusList.Count == newAxisMovingStatus.Count)
			{
			var tempNew = new List<AxisMovingStatus>(newAxisMovingStatus);//clone
			var tempOld = new List<AxisMovingStatus>(AxisStatusList);
			AxisStatusCheck(tempNew, tempOld);
			}

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

			@@ -1027,29 +1038,52 @@
			});
			}

			private async void AxisStatusCheck(List<AxisMovingStatus> tempNew, List<AxisMovingStatus> tempOld)
			{
			await Task.Run(() =>
			{
			foreach (var newSts in tempNew)
			{
			var oldSts = tempOld.FirstOrDefault(u => u.AxisIndex == newSts.AxisIndex);
			if (oldSts != null)
			{
			if (oldSts.AxisStatus != newSts.AxisStatus)
			{
			AxisStatusChanged(newSts.AxisIndex, oldSts.AxisStatus, newSts.AxisStatus);
			}

			if (((newSts.AxisStatus >> 1 & 1) == 1) && ((oldSts.AxisStatus >> 1 & 1) == 0)) //初次报警
			{
			AxisAlarmRaised(newSts.AxisStatus, $"轴{newSts.AxisIndex}:{newSts.AxisName}轴伺服报警");
			}
			}
			}
			});
			}

			public override void OnMethodInvoked(IAsyncResult ar)
			{
			MotionCardMonitorSet monitorSet = ar.AsyncState as MotionCardMonitorSet;
			ProcessResponse resValues = monitorSet.Response;
			if (resValues.ResultValue == (int)ReplyValue.IGNORE)
			{
			return;
			}
			//MotionCardMonitorSet monitorSet = ar.AsyncState as MotionCardMonitorSet;
			//ProcessResponse resValues = monitorSet.Response;
			//if (resValues.ResultValue == (int)ReplyValue.IGNORE)
			//{
			// return;
			//}

			Stopwatch sw = new Stopwatch();
			sw.Start();
			// 将指定IOItem写入板卡
			foreach (var replyIOData in monitorSet.ReplyIODatas)
			{
			//写入IO输出
			if (replyIOData.IOType == IOType.OUTPUT)
			{
			GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPI, (short)replyIOData.IONum, (short)replyIOData.Value);
			}
			// in只读不能写
			}
			sw.Stop();
			LogAsync(DateTime.Now, $"{Name}反馈完成，耗时{sw.ElapsedMilliseconds}ms", $"{resValues.GetDisplayText()}");
			//Stopwatch sw = new Stopwatch();
			//sw.Start();
			//// 将指定IOItem写入板卡
			//foreach (var replyIOData in monitorSet.ReplyIODatas)
			//{
			// //写入IO输出
			// if (replyIOData.IOType == IOType.OUTPUT)
			// {
			// GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPI, (short)replyIOData.IONum, (short)replyIOData.Value);
			// }
			// // in只读不能写
			//}
			//sw.Stop();
			//LogAsync(DateTime.Now, $"{Name}反馈完成，耗时{sw.ElapsedMilliseconds}ms", $"{resValues.GetDisplayText()}");
			}

			protected void MonitorCheckAndInvoke(List<IOItem> tempNew, List<IOItem> tempOld)
			@@ -1092,10 +1126,10 @@
			monitorSet.OpConfig = new OperationConfigBase();
			}

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

			ExcuteMonitorInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet);
			}
			@@ -1111,7 +1145,8 @@
			ClearStatus(1, axisSettings.Count);
			foreach (var axisSetting in axisSettings)
			{
			axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
			//axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
			axis_sts = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex).AxisStatus;
			if ((axis_sts & 0x200) == 0)
			{
			var rst = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisSetting.AxisIndex);