板卡驱动

wells.liu

2020-07-07 5918194fccdb2a2303e713b8d2f3335243b9e2ef

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -18,12 +18,12 @@
namespace Bro.Device.GTSCard
{
    [Device("GTSCard", "固高板卡", EnumHelper.DeviceAttributeType.Device)]
    public class GTSCardDriver : DeviceBase, IMonitor, IMotion
    public class GTSCardDriver : MotionCardBase
    {
        // 异常事件
        public Action<Exception> OnExceptionRaised;

        public GTSCardInitialConfig IConfig
        public GTSCardInitialConfig IIConfig
        {
            get
            {
@@ -37,12 +37,19 @@
        /// </summary>
        bool _isResetting = false;

        /// <summary>
        /// 运动轴立即暂停
        /// </summary>
        Dictionary<int, ManualResetEvent> axisImmediatePauseHandleDict = new Dictionary<int, ManualResetEvent>();

        Dictionary<int, CancellationTokenSource> axisMoveCancelDict = new Dictionary<int, CancellationTokenSource>();

        public void SetResetFlag(bool isReset)
        {
            _isResetting = isReset;
        }

        public List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
        public override List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
        {
            throw new NotImplementedException();
        }
@@ -52,16 +59,24 @@
        protected override void Init()
        {
            InitialMotionCard();
            axisImmediatePauseHandleDict = IConfig.AxisSettings.ToDictionary(a => a.AxisIndex, a => new ManualResetEvent(true));
            axisMoveCancelDict = IConfig.AxisSettings.ToDictionary(a => a.AxisIndex, a => new CancellationTokenSource());

            axisMoveCancelDict.Values.ToList().ForEach(c =>
            {
                c = new CancellationTokenSource();
            });
        }

        ManualResetEvent _pauseHandle = new ManualResetEvent(true);
        protected override void Pause()
        {
            throw new NotImplementedException();

        }

        protected override void Resume()
        {
            throw new NotImplementedException();

        }

        protected override void Start()
@@ -73,6 +88,155 @@
        {
            AllMoveStop();
            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();
            if (config is MotionCardOperationConfigBase motionCardOperationConfig)
            {
                _pauseHandle.WaitOne();
                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;
        }
        #endregion

        #region ImmediatePause
        /// <summary>
        /// 启动立即暂停
        /// </summary>
        public void SetImmediatePause()
        {
            if (!_isResetting)
            {
                var immediatePauseAxis = IConfig.AxisSettings.Where(u => u.IsImmediatePause).Select(u => u.AxisIndex).ToList();

                immediatePauseAxis.ForEach(async axisIndex =>
                {
                    axisImmediatePauseHandleDict[axisIndex].Reset();

                    axisMoveCancelDict[axisIndex].Cancel();

                    await MoveStop(axisIndex, 0);
                });
            }
        }

        /// <summary>
        /// 恢复立即暂停
        /// </summary>
        public void ResetImmediatePause()
        {
            var immediatePauseAxis = IConfig.AxisSettings.Where(u => u.IsImmediatePause).Select(u => u.AxisIndex).ToList();

            immediatePauseAxis.ForEach(axisIndex =>
            {
                axisMoveCancelDict[axisIndex] = new CancellationTokenSource();

                axisImmediatePauseHandleDict[axisIndex].Set();
            });
        }
        #endregion

@@ -93,6 +257,7 @@
                throw new Exception("板卡载入配置文件异常，错误码：" + res);
            }
        }


        public bool AllAxisOn()
        {
@@ -153,26 +318,27 @@
        /// </summary>
        /// <param name="item">运动对象</param>
        /// <returns>运动控制+停止判断</returns>
        public bool MoveToPoint(IOperationConfig opConfig)
        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)
            ResponseMessage responseMessage = new ResponseMessage();
            if (opConfig is MotionOperationCollection gtsOperationCollection)
            {
                //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());
                _pauseHandle.WaitOne();
                List<Task<bool>> taskList = new List<Task<bool>>();
                foreach (var movingOp in gtsOperationCollection.MovingOps)
                {
                    var task = SingleAxisMoving(movingOp);
                    taskList.Add(task);
                }

            return resultOK;
                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>
@@ -210,48 +376,58 @@
            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;
                                }
                        axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();

                                if (optionPara.IsAbsolute)
                                {
                                    isSuccessAndStop = P2PMoveAbs(optionPara);
                                }
                                else
                                {
                                    isSuccessAndStop = P2PMoveRel(optionPara);
                                }
                        string _position = "";
                        string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();

                            }
                            break;
                        case MotorMoveMode.FindOri:
                            {
                                isSuccessAndStop = GoHome(optionPara);
                            }
                            break;
                        case MotorMoveMode.Jog:
                            {
                                isSuccessAndStop = JogMove(optionPara);
                            }
                            break;
                        _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 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;
            });
@@ -297,6 +473,41 @@
        }

        /// <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>
@@ -321,8 +532,8 @@

                    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);
                        LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "JogMove异常", "错误码：" + ret + ";" + "重试次数：" + repeatTime);
                        Thread.Sleep(10);
                    }
                    repeatTime--;
                } while (ret != (short)GTSRetCode.GRCRunOK && repeatTime > 0);
@@ -334,29 +545,6 @@
                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>
@@ -396,11 +584,11 @@

                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);
@@ -412,15 +600,19 @@
                        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);
@@ -443,6 +635,8 @@
        {
            try
            {
                axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();

                if (_isResetting)
                {
                    LogAsync(DateTime.Now, "复位过程异常", "轴" + optionPara.AxisIndex + "试图在复位过程中运动");
@@ -467,9 +661,9 @@
                }
                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);
@@ -481,14 +675,18 @@
                        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);
@@ -531,7 +729,7 @@
                int repeatTime = 100;
                do
                {
                    isStop = IsStop((short)IConfig.CardNum, (short)axisNum);
                    isStop = IsStop((short)axisNum);
                    Thread.Sleep(10);
                    repeatTime--;
                } while (!isStop && repeatTime > 0);
@@ -627,14 +825,13 @@
        /// <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;
        }
@@ -642,19 +839,19 @@
        /// <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 void WriteOut(short cardNum, short index, bool value)
        public override void WriteOutput(short index, IOValue value)
        {
            short outNum = (short)(index % 100 + 1);
            if (value)
            if ((int)value <= 1)
            {
                GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 0);
                GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)value);
            }
            else
            {
                GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 1);
                var currentValue = (int)MonitorValues.FirstOrDefault(u => u.IONum == outNum && u.IOType == IOType.OUTPUT).Value;
                GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)(currentValue == 1 ? 0 : 1));
            }
        }

@@ -664,25 +861,53 @@
        /// <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 event Action<DateTime, string, IDevice, IMonitorSet> OnMonitorInvoke;
        public event Action<DateTime, IDevice, IWarningSet> OnMonitorAlarm;

        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()
@@ -701,14 +926,14 @@
                IOItem inItem = new IOItem()
                {
                    IONum = index,
                    Value = (inValue & (1 << index)) == 0 ? 1 : 0,
                    Model = IOModel.In
                    Value = (inValue & (1 << index)) == 0 ? IOValue.TRUE : IOValue.FALSE,
                    IOType = IOType.INPUT
                };
                IOItem outItem = new IOItem()
                {
                    IONum = index,
                    Value = (outValue & (1 << index)) == 0 ? 1 : 0,
                    Model = IOModel.Out
                    Value = (outValue & (1 << index)) == 0 ? IOValue.TRUE : IOValue.FALSE,
                    IOType = IOType.OUTPUT
                };
                result.Add(inItem);
                result.Add(outItem);
@@ -717,7 +942,7 @@
            return result;
        }

        public async void Monitor()
        public async override void Monitor()
        {
            await Task.Run(() =>
            {
@@ -728,7 +953,8 @@
                        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();
@@ -739,6 +965,8 @@
                            var tempOld = MonitorValues.DeepSerializeClone();
                            MonitorCheckAndInvoke(tempNew, tempOld);
                        }

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

@@ -764,7 +992,7 @@
            });
        }

        private void OnMethodInvoked(IAsyncResult ar)
        public override void OnMethodInvoked(IAsyncResult ar)
        {
            MotionCardMonitorSet monitorSet = ar.AsyncState as MotionCardMonitorSet;
            ProcessResponse resValues = monitorSet.Response;
@@ -779,7 +1007,7 @@
            foreach (var replyIOData in monitorSet.ReplyIODatas)
            {
                //写入IO输出
                if (replyIOData.Model == IOModel.Out)
                if (replyIOData.IOType == IOType.OUTPUT)
                {
                    GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPI, (short)replyIOData.IONum, (short)replyIOData.Value);
                }
@@ -796,15 +1024,14 @@
            {
                MotionCardWarningSet warningSet = wSet as MotionCardWarningSet;

                bool isOn = ((tempNew.FirstOrDefault(u => u.IONum == warningSet.TriggerIndex && u.Model == warningSet.WarningIOModel)?.Value >> warningSet.TriggerIndex) & 1) == (warningSet.TriggerValue ? 1 : 0);
                bool isOn = (((int)((tempNew.FirstOrDefault(u => u.IONum == warningSet.TriggerIndex && u.IOType == warningSet.WarningIOModel)?.Value)) >> warningSet.TriggerIndex) & 1) == (warningSet.TriggerValue ? 1 : 0);

                if (warningSet.CurrentStatus != isOn)
                {
                    warningSet.CurrentStatus = isOn;
                    warningSet.TriggerTime = DateTime.Now;
                    warningSet.WarningDescription = $"警报：{warningSet.Name}-触发索引：{warningSet.TriggerIndex}-{warningSet.WarningIOModel.GetEnumDescription()}:{warningSet.WarningCode}";
                    SaveAlarmCSVAsync(DateTime.Now, this.Name, warningSet);
                    OnMonitorAlarm?.BeginInvoke(DateTime.Now, this, warningSet, null, null);
                    ExcuteMonitorAlarm(DateTime.Now, this, warningSet);
                }
            });
            #endregion
@@ -823,7 +1050,7 @@

                if (newIOItem?.Value != oldIOItem?.Value)
                {
                    if (monitorSet.TriggerValue == -999 || newIOItem.Value == monitorSet.TriggerValue)
                    if (monitorSet.TriggerValue == -999 || (int)newIOItem.Value == monitorSet.TriggerValue)
                    {
                        if (monitorSet.OpConfig == null)
                        {
@@ -835,22 +1062,21 @@
                        //    return tempNew[index].Value;
                        //}).ToList();

                        OnMonitorInvoke?.BeginInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet, OnMethodInvoked, monitorSet);
                        ExcuteMonitorInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet);
                    }
                }
            });
            #endregion
        }

        public void ResetAlarm()
        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);