板卡驱动

wells.liu

2020-07-07 5918194fccdb2a2303e713b8d2f3335243b9e2ef

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -37,6 +37,13 @@
        /// </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;
@@ -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()
@@ -83,13 +98,16 @@
        public override ResponseMessage Run(IOperationConfig config)
        {
            ResponseMessage responseMessage = new ResponseMessage();
            var motionCardOperationConfig = config as MotionCardOperationConfigBase;
            foreach (var operationSet in motionCardOperationConfig.OperationCollection)
            if (config is MotionCardOperationConfigBase motionCardOperationConfig)
            {
                responseMessage = RunOperationSet(operationSet);
                if (!responseMessage.Result)
                _pauseHandle.WaitOne();
                foreach (var operationSet in motionCardOperationConfig.OperationCollection)
                {
                    return responseMessage;
                    responseMessage = RunOperationSet(operationSet);
                    if (!responseMessage.Result)
                    {
                        return responseMessage;
                    }
                }
            }
            return responseMessage;
@@ -185,6 +203,43 @@
        }
        #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

        #region GTSCard

        /// <summary>
@@ -266,19 +321,22 @@
        public override ResponseMessage MoveToPoint(IOperationConfig opConfig)
        {
            ResponseMessage responseMessage = new ResponseMessage();
            var gtsOperationCollection = opConfig as MotionOperationCollection;
            List<Task<bool>> taskList = new List<Task<bool>>();
            foreach (var movingOp in gtsOperationCollection.MovingOps)
            if (opConfig is MotionOperationCollection gtsOperationCollection)
            {
                var task = SingleAxisMoving(movingOp);
                taskList.Add(task);
            }
                _pauseHandle.WaitOne();
                List<Task<bool>> taskList = new List<Task<bool>>();
                foreach (var movingOp in gtsOperationCollection.MovingOps)
                {
                    var task = SingleAxisMoving(movingOp);
                    taskList.Add(task);
                }

            Task.WaitAll(taskList.ToArray());
            responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
            if (!responseMessage.Result)
            {
                responseMessage.Message = $"点位运动异常";
                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;
        }
@@ -322,6 +380,8 @@
                {
                    if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
                    {
                        axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();

                        string _position = "";
                        string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();

@@ -472,7 +532,7 @@

                    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);
                        LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "JogMove异常", "错误码：" + ret + ";" + "重试次数：" + repeatTime);
                        Thread.Sleep(10);
                    }
                    repeatTime--;
@@ -552,7 +612,7 @@
                repeatTime = 1000;
                do
                {
                    isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
                    isStop = IsStop((short)optionPara.AxisIndex);
                    Thread.Sleep(50);
                    repeatTime--;
                } while (!isStop && repeatTime > 0);
@@ -575,6 +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");
@@ -624,7 +686,7 @@
                repeatTime = 1000;
                do
                {
                    isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
                    isStop = IsStop((short)optionPara.AxisIndex);
                    Thread.Sleep(50);
                    repeatTime--;
                } while (!isStop && repeatTime > 0);
@@ -667,7 +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);
@@ -799,18 +861,29 @@
        /// <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
@@ -827,6 +900,8 @@
                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);

            }
@@ -997,12 +1072,11 @@
        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);