M071.git - Gitblit

			@@ -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
			{
			@@ -42,7 +42,7 @@
			_isResetting = isReset;
			}

			public List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
			public override List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
			{
			throw new NotImplementedException();
			}
			@@ -74,6 +74,99 @@
			AllMoveStop();
			AllAxisOff();
			}

			/// <summary>
			/// 设备运行
			/// </summary>
			/// <param name="config"></param>
			/// <returns></returns>
			public override ResponseMessage Run(IOperationConfig config)
			{
			ResponseMessage responseMessage = new ResponseMessage();
			var opConfig = config as GTSCardOperationConfig;
			// 1.预检查
			if (CurrentState == DeviceState.DSOpen)
			{
			foreach (var preCheck in opConfig.PreCheckIOCollection)
			{
			int timeout = opConfig.PreCheckIOTimeout;
			int? 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 \|\| (opConfig.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(opConfig);

			if (!responseMessage.Result)
			{
			return responseMessage;
			}
			}


			// 3.IO输出不需要超时
			if (CurrentState == DeviceState.DSOpen)
			{
			foreach (var ioOutput in opConfig.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 opConfig.IOConfirmCollection)
			{
			int timeout = opConfig.IOConfirmTimeout;
			int? 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 \|\| (opConfig.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 GTSCard
			@@ -93,6 +186,7 @@
			throw new Exception("板卡载入配置文件异常，错误码：" + res);
			}
			}


			public bool AllAxisOn()
			{
			@@ -153,9 +247,9 @@
			/// </summary>
			/// <param name="item">运动对象</param>
			/// <returns>运动控制+停止判断</returns>
			public ResponseMessage MoveToPoint(IOperationConfig opConfig)
			public override ResponseMessage MoveToPoint(IOperationConfig opConfig)
			{
			bool resultOK = false;
			ResponseMessage responseMessage = new ResponseMessage();
			var gtsOperationConfig = opConfig as GTSCardOperationConfig;
			List<Task<bool>> taskList = new List<Task<bool>>();
			//TaskFactory factory = new TaskFactory(TaskCreationOptions.LongRunning, TaskContinuationOptions.None);
			@@ -170,10 +264,12 @@
			taskList.Add(task);
			}
			Task.WaitAll(taskList.ToArray());
			resultOK = taskList.All(u => u.GetAwaiter().GetResult());

			//return resultOK;
			throw new NotImplementedException();
			responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
			if (!responseMessage.Result)
			{
			responseMessage.Message = $"点位运动异常";
			}
			return responseMessage;
			}

			/// <summary>
			@@ -211,48 +307,56 @@
			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;
			}
			string _position = "";
			string motionType = optionPara.MoveMode == EnumHelper.MotorMoveMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();

			if (optionPara.IsAbsolute)
			{
			isSuccessAndStop = P2PMoveAbs(optionPara);
			}
			else
			{
			isSuccessAndStop = P2PMoveRel(optionPara);
			}
			_position = $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff},{optionPara.AxisIndex},{motionType},{GetPosition(optionPara.AxisIndex)},{GetPrfPosition(optionPara.AxisIndex)},{optionPara.Destination},";

			}
			break;
			case MotorMoveMode.FindOri:
			{
			isSuccessAndStop = GoHome(optionPara);
			}
			break;
			case MotorMoveMode.Jog:
			{
			isSuccessAndStop = JogMove(optionPara);
			}
			break;
			switch (optionPara.MoveMode)
			{
			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;
			}

			if (optionPara.IsAbsolute)
			{
			isSuccessAndStop = P2PMoveAbs(optionPara);
			}
			else
			{
			isSuccessAndStop = P2PMoveRel(optionPara);
			}

			}
			break;
			case MotorMoveMode.FindOri:
			{
			isSuccessAndStop = GoHome(optionPara);
			}
			break;
			case MotorMoveMode.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;
			});
			@@ -323,7 +427,7 @@
			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);
			Thread.Sleep(50);
			Thread.Sleep(10);
			}
			repeatTime--;
			} while (ret != (short)GTSRetCode.GRCRunOK && repeatTime > 0);
			@@ -397,11 +501,11 @@

			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);
			@@ -413,8 +517,12 @@
			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;
			@@ -468,9 +576,9 @@
			}
			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);
			@@ -482,8 +590,12 @@
			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;
			@@ -628,14 +740,13 @@
			/// <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;
			}
			@@ -643,19 +754,19 @@
			/// <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 cardNum, 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(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(cardNum, GTSCardAPI.MC_GPO, outNum, (short)(currentValue == 1 ? 0 : 1));
			}
			}

			@@ -680,10 +791,8 @@
			#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<IOItem> MonitorValues { get; set; } = new List<IOItem>();


			public List<IOItem> GetMonitorValues()
			@@ -702,14 +811,14 @@
			IOItem inItem = new IOItem()
			{
			IONum = index,
			Value = (inValue & (1 << index)) == 0 ? 1 : 0,
			IOType = IOType.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,
			IOType = IOType.Out
			Value = (outValue & (1 << index)) == 0 ? IOValue.TRUE : IOValue.FALSE,
			IOType = IOType.OUTPUT
			};
			result.Add(inItem);
			result.Add(outItem);
			@@ -718,7 +827,7 @@
			return result;
			}

			public async void Monitor()
			public async override void Monitor()
			{
			await Task.Run(() =>
			{
			@@ -765,7 +874,7 @@
			});
			}

			private void OnMethodInvoked(IAsyncResult ar)
			public override void OnMethodInvoked(IAsyncResult ar)
			{
			MotionCardMonitorSet monitorSet = ar.AsyncState as MotionCardMonitorSet;
			ProcessResponse resValues = monitorSet.Response;
			@@ -780,7 +889,7 @@
			foreach (var replyIOData in monitorSet.ReplyIODatas)
			{
			//写入IO输出
			if (replyIOData.IOType == IOType.Out)
			if (replyIOData.IOType == IOType.OUTPUT)
			{
			GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPI, (short)replyIOData.IONum, (short)replyIOData.Value);
			}
			@@ -797,15 +906,14 @@
			{
			MotionCardWarningSet warningSet = wSet as MotionCardWarningSet;

			bool isOn = ((tempNew.FirstOrDefault(u => u.IONum == warningSet.TriggerIndex && u.IOType == 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
			@@ -824,7 +932,7 @@

			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)
			{
			@@ -836,14 +944,14 @@
			// 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;