领胜LDS 键盘AOI检测项目
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
xcd
2020-07-09 5b6ffebeeee53e375cf8f8d5c30c51f03ad1d96e 
 src/Bro.Device.GTSCard/GTSCardDriver.cs


@@ -37,6 +37,18 @@


        /// </summary>


        bool _isResetting = false;




        /// <summary>


        /// 是否暂停中


        /// </summary>


        bool _isPause = 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;


@@ -44,7 +56,17 @@




        public override List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)


        {


            throw new NotImplementedException();


            List<AxisInfo> axisInfos = new List<AxisInfo>();


            IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ForEach(axisSetting =>


            {


                AxisInfo axisInfo = new AxisInfo();


                axisInfo.AxisName = axisSetting.AxisName;


                var axisMovingStatus = AxisMovingOptionValues.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex);


                axisInfo.AxisLocation = axisMovingStatus == null ? 0 : Convert.ToDouble(axisMovingStatus.CurPosition);




                axisInfos.Add(axisInfo);


            });


            return axisInfos;


        }




        #region DeviceBase


@@ -52,16 +74,23 @@


        protected override void Init()


        {


            InitialMotionCard();


            axisImmediatePauseHandleDict = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ToDictionary(a => a.AxisIndex, a => new ManualResetEvent(true));


            //axisMoveCancelDict = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ToDictionary(a => a.AxisIndex, a => new CancellationTokenSource());




            //axisMoveCancelDict.Values.ToList().ForEach(c =>


            //{


            //    c = new CancellationTokenSource();


            //});


        }




        protected override void Pause()


        {


            throw new NotImplementedException();




        }




        protected override void Resume()


        {


            throw new NotImplementedException();




        }




        protected override void Start()


@@ -83,13 +112,15 @@


        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)


                foreach (var operationSet in motionCardOperationConfig.OperationCollection)


                {


                    return responseMessage;


                    responseMessage = RunOperationSet(operationSet);


                    if (!responseMessage.Result)


                    {


                        return responseMessage;


                    }


                }


            }


            return responseMessage;


@@ -131,7 +162,7 @@


            // 2.板卡运动


            if (CurrentState == DeviceState.DSOpen)


            {


                responseMessage = MoveToPoint(operationSet.MotionOperationCollection);


                responseMessage = MoveToPoint(new MotionOperationCollection() { MovingOps = operationSet.MovingOps });


                if (!responseMessage.Result)


                {


                    return responseMessage;


@@ -185,6 +216,43 @@


        }


        #endregion




        #region ImmediatePause


        /// <summary>


        /// 启动立即暂停


        /// </summary>


        public void SetImmediatePause()


        {


            if (!_isResetting)


            {


                var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();




                immediatePauseAxis.ForEach(async axisIndex =>


                {


                    axisImmediatePauseHandleDict[axisIndex].Reset();




                    //axisMoveCancelDict[axisIndex].Cancel();




                    await MoveStop(axisIndex, 0);//所有轴都暂停


                });


            }


        }




        /// <summary>


        /// 恢复立即暂停


        /// </summary>


        public void ResetImmediatePause()


        {


            var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();




            immediatePauseAxis.ForEach(axisIndex =>


            {


                //axisMoveCancelDict[axisIndex] = new CancellationTokenSource();




                axisImmediatePauseHandleDict[axisIndex].Set();


            });


        }


        #endregion




        #region GTSCard




        /// <summary>


@@ -196,7 +264,7 @@


        {


            var res = GTSCardAPI.GT_Open((short)IConfig.CardNum, 0, 1); //打开运动控制器。参数必须为（0,1），不能修改。     


            res += GTSCardAPI.GT_LoadConfig((short)IConfig.CardNum, IConfig.InitialConfigFilePath);


            res += GTSCardAPI.GT_ClrSts(0, 1, 8);


            ClearStatus(1, IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled).Count);


            if (res != (short)GTSRetCode.GRCRunOK)


            {


                throw new Exception("板卡载入配置文件异常，错误码：" + res);


@@ -204,13 +272,13 @@


        }






        public bool AllAxisOn()


        public override bool AllAxisOn()


        {


            List<Task<bool>> taskList = new List<Task<bool>>(); ;


            // 如果是多个轴的运动 等每个轴开启


            IConfig.AxisSettings.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>


            IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ForEach(axisNum =>


            {


                var task = AxisOnAsync((short)IConfig.CardNum, (short)axisNum.AxisIndex);


                var task = AxisOnAsync(axisNum.AxisIndex);


                taskList.Add(task);


            });


            Task.WaitAll(taskList.ToArray());


@@ -218,13 +286,13 @@


            return resultOK;


        }




        public bool AllAxisOff()


        public override bool AllAxisOff()


        {


            List<Task<bool>> taskList = new List<Task<bool>>(); ;


            // 如果是多个轴的运动 等每个轴关闭


            IConfig.AxisSettings.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>


            IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ForEach(axisNum =>


            {


                var task = AxisOffAsync((short)IConfig.CardNum, (short)axisNum.AxisIndex);


                var task = AxisOffAsync(axisNum.AxisIndex);


                taskList.Add(task);


            });


            Task.WaitAll(taskList.ToArray());


@@ -236,11 +304,11 @@


        /// 单个轴开启


        /// </summary>


        /// <returns></returns>


        public async Task<bool> AxisOnAsync(short cardNum, short axisNum)


        public override async Task<bool> AxisOnAsync(int axisNum)


        {


            return await Task.Run(() =>


            {


                var ret = GTSCardAPI.GT_AxisOn(cardNum, axisNum);


                var ret = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisNum);


                return ret == (short)GTSRetCode.GRCRunOK;


            });


        }


@@ -249,11 +317,11 @@


        /// 单个轴关闭


        /// </summary>


        /// <returns></returns>


        public async Task<bool> AxisOffAsync(short cardNum, short axisNum)


        public override async Task<bool> AxisOffAsync(int axisNum)


        {


            return await Task.Run(() =>


            {


                var ret = GTSCardAPI.GT_AxisOff(cardNum, axisNum);


                var ret = GTSCardAPI.GT_AxisOff((short)IConfig.CardNum, (short)axisNum);


                return ret == (short)GTSRetCode.GRCRunOK;


            });


        }


@@ -266,19 +334,21 @@


        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);


            }


                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;


        }


@@ -292,14 +362,15 @@


        {


            List<short> resultCode = new List<short>() { 0 };


            GTSCardAPI.TTrapPrm trapprm = new GTSCardAPI.TTrapPrm();


            resultCode.Add(GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)optionPara.AxisIndex));


            resultCode.Add(GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, (short)optionPara.AxisIndex, out trapprm));


            short axisIndex = short.Parse(optionPara.AxisIndexStr);


            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;




            resultCode.Add(GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, (short)optionPara.AxisIndex, ref trapprm));


            resultCode.Add(GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)optionPara.AxisIndex, optionPara.VelocityPara.Velocity * IConfig.AxisVelocityRatio));


            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));




            var resultOK = resultCode.All(u => u == (short)GTSRetCode.GRCRunOK);


            if (!resultOK)


@@ -313,10 +384,11 @@


        /// 单个轴 运动(点到点 jog 回零...）


        /// </summary>


        /// <param name="optionPara">运动参数对象</param>


        public async Task<bool> SingleAxisMoving(MovingOption optionPara)


        public override async Task<bool> SingleAxisMoving(MovingOption optionPara)


        {


            return await Task.Run(() =>


            {


                axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();


                bool isSuccessAndStop = false;


                try


                {


@@ -387,7 +459,8 @@


            {


                throw new Exception("轴" + axisNum + "获取规划位置异常，错误码：" + ret);


            }


            position = prfpos / IConfig.AxisVelocityRatio;


            var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum).AxisRatio;


            position = prfpos / AxisRatio;


            return position;


        }




@@ -407,7 +480,8 @@


                {


                    throw new Exception("轴" + axisNum + "获取目标位置异常，错误码：" + ret);


                }


                position = pPos / IConfig.AxisVelocityRatio;


                var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum).AxisRatio;


                position = pPos / AxisRatio;


                return position;


            }


        }


@@ -416,7 +490,7 @@


        /// 获取规划速度


        /// </summary>


        /// <param name="axisNum">Axis number</param>


        /// <returns></returns>


        /// <returns>速度脉冲</returns>


        public double GetPrfVelocity(int axisNum)


        {


            double prfVel = 0;


@@ -426,7 +500,6 @@


            {


                throw new Exception("轴" + axisNum + "获取规划速度异常，错误码：" + ret);


            }


            prfVel = prfVel / IConfig.AxisVelocityRatio;


            return prfVel;


        }




@@ -434,7 +507,7 @@


        /// 获取当前速度


        /// </summary>


        /// <param name="axisNum">Axis number</param>


        /// <returns></returns>


        /// <returns>速度脉冲</returns>


        public double GetVelocity(int axisNum)


        {


            double vel = 0;


@@ -443,7 +516,6 @@


            {


                throw new Exception("轴" + axisNum + "获取当前速度异常，错误码：" + ret);


            }


            vel = vel / IConfig.AxisVelocityRatio;


            return vel;


        }




@@ -528,11 +600,12 @@


                int currentPosition = (int)GetPosition(optionPara.AxisIndex);


                int dPosition = optionPara.Destination + currentPosition;


                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;


                while (CurrentState == DeviceState.DSOpen)


                {


                    //设置 运动参数


                    isSuccessSetAxisParam = SetAxisParam(optionPara);


                    ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition * IConfig.AxisVelocityRatio));// 设置规划位置


                    ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition * AxisRatio));// 设置规划位置


                    ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//更新运动




                    if (ret != (short)GTSRetCode.GRCRunOK)


@@ -575,6 +648,8 @@


        {


            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");


@@ -601,11 +676,12 @@


                short ret = 0;


                bool isSuccessSetAxisParam = false;


                int timeout = optionPara.MovingTimeout;


                while (CurrentState == DeviceState.DSOpen)


                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


                    isSuccessSetAxisParam = SetAxisParam(optionPara);


                    ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(optionPara.Destination * IConfig.AxisVelocityRatio));// 设置规划位置


                    ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(optionPara.Destination * AxisRatio));// 设置规划位置


                    ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//更新运动




                    if (ret != (short)GTSRetCode.GRCRunOK)


@@ -622,12 +698,12 @@




                bool isStop = false;


                repeatTime = 1000;


                do


                while (!isStop && repeatTime > 0)


                {


                    isStop = IsStop((short)optionPara.AxisIndex);


                    Thread.Sleep(50);


                    repeatTime--;


                } while (!isStop && repeatTime > 0);


                }




                return (ret == (short)GTSRetCode.GRCRunOK) && isStop;


            }


@@ -645,7 +721,7 @@


        /// <param name="axisNum">axisNo</param>


        /// <param name="option">0表示平滑停止，1表示紧急停止</param>


        /// <returns></returns>


        public async Task<bool> MoveStop(int axisNum, int option)


        public override async Task<bool> MoveStop(int axisNum, int option)


        {


            return await Task.Run(() =>


            {


@@ -704,7 +780,7 @@


        {


            try


            {


                GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);


                PositionReset(movingOption.AxisIndex, 1);


                GTSCardAPI.THomePrm thomeprm;


                GTSCardAPI.THomeStatus homests;


                short rtn = GTSCardAPI.GT_GetHomePrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out thomeprm);


@@ -731,7 +807,7 @@


                    if (isStop && homests.error == 0)


                    {


                        Thread.Sleep(200);


                        GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);


                        PositionReset(movingOption.AxisIndex, 1);


                    }


                    repeatTime--;


                } while (!isStop && repeatTime > 0);


@@ -809,10 +885,9 @@


        /// <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)


        public override int GetAxisStatus(int axisNum)


        {


            lock (moveLock)


            {


@@ -822,6 +897,28 @@


                return sts;


            }


        }




        public override bool ClearStatus(int startAxisIndex, int count)


        {


            var rtn = GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, (short)startAxisIndex, (short)count);


            return rtn == (short)GTSRetCode.GRCRunOK;


        }




        /// <summary>


        /// 位置回零


        /// </summary>


        /// <param name="startAxisIndex"></param>


        /// <param name="count"></param>


        /// <returns></returns>


        public override bool PositionReset(int startAxisIndex, int count)


        {


            lock (moveLock)


            {


                var rtn = GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)startAxisIndex, (short)count);


                return rtn == (short)GTSRetCode.GRCRunOK;


            }


        }




        #endregion




        #region IMonitor


@@ -932,27 +1029,27 @@




        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)


@@ -1011,7 +1108,7 @@


        {


            int axis_sts;


            var axisSettings = IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled);


            GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, 1, (short)axisSettings.Count);


            ClearStatus(1, axisSettings.Count);


            foreach (var axisSetting in axisSettings)


            {


                axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);


@@ -1019,8 +1116,8 @@


                {


                    var rst = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisSetting.AxisIndex);


                }


                // 位置请零


                GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, 1, (short)axisSettings.Count);


                // 所有位置请零


                PositionReset(1, axisSettings.Count);


                // 正极限报警


                if ((axis_sts & 0x20) != 0)


                {


@@ -1045,7 +1142,7 @@


            }




            // 清除状态


            GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, 1, (short)IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled).Count);


            ClearStatus(1, axisSettings.Count);


        }




        object _alarmLock = new object();