板卡运动

wells.liu

2020-07-04 65faad811883efc4264e3a5ca2c4e64340c198f5

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -6,7 +6,9 @@
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Diagnostics;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
@@ -16,16 +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
    {
        public event Action<DateTime, string, IDevice, MonitorSet> OnMonitorInvoke;
        public event Action<DateTime, IDevice, WarningSet> OnMonitorAlarm;

        public delegate bool OnAxisStartToCheckDelegate(int axisIndex, int startPosition, int endPosition);
        // 异常事件
        public Action<Exception> OnExceptionRaised;

        public GTSCardInitialConfig IConfig
        public GTSCardInitialConfig IIConfig
        {
            get
            {
@@ -44,7 +42,7 @@
            _isResetting = isReset;
        }

        public List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
        public override List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
        {
            throw new NotImplementedException();
        }
@@ -68,12 +66,106 @@

        protected override void Start()
        {
            throw new NotImplementedException();
            AllAxisOn();
        }

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

@@ -95,31 +187,100 @@
            }
        }


        public 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 =>
            {
                var task = AxisOnAsync((short)IConfig.CardNum, (short)axisNum.AxisIndex);
                taskList.Add(task);
            });
            Task.WaitAll(taskList.ToArray());
            var resultOK = taskList.All(u => u.GetAwaiter().GetResult());
            return resultOK;
        }

        public 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 =>
            {
                var task = AxisOffAsync((short)IConfig.CardNum, (short)axisNum.AxisIndex);
                taskList.Add(task);
            });
            Task.WaitAll(taskList.ToArray());
            var resultOK = taskList.All(u => u.GetAwaiter().GetResult());
            return resultOK;
        }

        /// <summary>
        /// 单个轴开启
        /// </summary>
        /// <returns></returns>
        public async Task<bool> AxisOnAsync(short cardNum, short axisNum)
        {
            return await Task.Run(() =>
            {
                var ret = GTSCardAPI.GT_AxisOn(cardNum, axisNum);
                return ret == (short)GTSRetCode.GRCRunOK;
            });
        }

        /// <summary>
        /// 单个轴关闭
        /// </summary>
        /// <returns></returns>
        public async Task<bool> AxisOffAsync(short cardNum, short axisNum)
        {
            return await Task.Run(() =>
            {
                var ret = GTSCardAPI.GT_AxisOff(cardNum, axisNum);
                return ret == (short)GTSRetCode.GRCRunOK;
            });
        }

        /// <summary>
        /// 点位到点位运动
        /// </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;
            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);
            // 如果是多个轴的运动 等每个轴运动结束
            foreach (var movingOp in gtsOperationConfig.MovingOps)
            {
                resultOK = SingleAxisMoving(movingOp);
                //var task = factory.StartNew<bool>((op) =>
                //{
                //    return SingleAxisMoving(op as MovingOption);
                //}, movingOp);
                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>
        /// Set AxisParam
        /// 点到点运动设置参数
        /// </summary>
        /// <param name="optionPara">运动参数对象</param>
        /// <returns></returns>
        private bool SetAxisParam(MovingOption optionPara)
        {
            List<short> resultCode = new List<short>() { 0 };
            GTSCardAPI.TTrapPrm trapprm;
            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));
            trapprm.smoothTime = 1;
@@ -138,54 +299,67 @@
        }

        /// <summary>
        /// 单个轴 点位到点位运动
        /// 单个轴 运动(点到点 jog 回零...）
        /// </summary>
        /// <param name="optionPara">运动参数对象</param>
        public bool SingleAxisMoving(MovingOption optionPara)
        public async Task<bool> SingleAxisMoving(MovingOption optionPara)
        {
            bool isSuccessAndStop = false;
            if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
            return await Task.Run(() =>
            {
                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)
                bool isSuccessAndStop = false;
                try
                {
                    case MotorMoveMode.Normal:
                    if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
                    {
                        string _position = "";
                        string motionType = optionPara.MoveMode == EnumHelper.MotorMoveMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();

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

                        switch (optionPara.MoveMode)
                        {
                            if (_isResetting)
                            {
                                LogAsync(DateTime.Now, "复位中启动运动异常", optionPara.AxisIndex + "启动运动异常");
                                return false;
                            }
                            //设置 运动参数
                            var isSuccess = SetAxisParam(optionPara);
                            if (isSuccess)
                            {
                                if (optionPara.IsAbsolute)
                            case MotorMoveMode.Normal:
                                {
                                    isSuccessAndStop = MoveAbs(optionPara);
                                    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);
                                    }

                                }
                                else
                                break;
                            case MotorMoveMode.FindOri:
                                {
                                    isSuccessAndStop = MoveRel(optionPara);
                                    isSuccessAndStop = GoHome(optionPara);
                                }
                            }
                                break;
                            case MotorMoveMode.Jog:
                                {
                                    isSuccessAndStop = JogMove(optionPara);
                                }
                                break;
                        }
                        break;
                    case MotorMoveMode.FindOri:
                        {
                            isSuccessAndStop = GoHome(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);
            }
            return isSuccessAndStop;
                catch (Exception ex)
                {
                    isSuccessAndStop = false;
                    LogAsync(DateTime.Now, $"轴{optionPara.AxisIndex}运动异常", ex.GetExceptionMessage());
                }
                return isSuccessAndStop;
            });
        }

        /// <summary>
@@ -195,18 +369,15 @@
        /// <returns></returns>
        public double GetPrfPosition(int axisNum)
        {
            lock (moveLock)
            double position = 0;
            double prfpos = 0; uint pclock = 0;
            var ret = GTSCardAPI.GT_GetPrfPos((short)IConfig.CardNum, (short)axisNum, out prfpos, 1, out pclock);
            if (ret != (short)GTSRetCode.GRCRunOK)
            {
                double position = 0;
                double prfpos = 0; uint pclock = 0;
                var ret = GTSCardAPI.GT_GetPrfPos((short)IConfig.CardNum, (short)axisNum, out prfpos, 1, out pclock);
                if (ret != (short)GTSRetCode.GRCRunOK)
                {
                    throw new Exception("轴" + axisNum + "获取规划位置异常，错误码：" + ret);
                }
                position = prfpos / IConfig.AxisVelocityRatio;
                return position;
                throw new Exception("轴" + axisNum + "获取规划位置异常，错误码：" + ret);
            }
            position = prfpos / IConfig.AxisVelocityRatio;
            return position;
        }

        /// <summary>
@@ -230,7 +401,6 @@
            }
        }


        /// <summary>
        /// Set Single Axis Do Jog Move  
        /// </summary>
@@ -238,21 +408,38 @@
        /// <param name="nDirection">Motion Direction 0: Negative, 1: Positive</param>
        /// <param name="nMaxVel">max velocity</param>
        /// <returns></returns>
        public bool StartJog(int axisNum, int nDirection, int velocity)
        public bool JogMove(MovingOption optionPara)
        {
            GTSCardAPI.TJogPrm jogprm = new GTSCardAPI.TJogPrm();
            short rtn = GTSCardAPI.GT_PrfJog((short)IConfig.CardNum, (short)axisNum);
            jogprm.acc = 1;
            jogprm.dec = 1;
            GTSCardAPI.GT_SetJogPrm((short)IConfig.CardNum, (short)axisNum, ref jogprm);//设置jog运动参数
            GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)axisNum, velocity);//设置目标速度
            int ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (axisNum - 1));//更新轴运动

            if (ret != (int)GTSRetCode.GRCRunOK)
            try
            {
                GTSCardAPI.TJogPrm jogprm = new GTSCardAPI.TJogPrm();
                short ret = 0;
                int repeatTime = 100;
                do
                {
                    ret = GTSCardAPI.GT_PrfJog((short)IConfig.CardNum, (short)optionPara.AxisIndex);
                    jogprm.acc = optionPara.VelocityPara.Acc;
                    jogprm.dec = optionPara.VelocityPara.Dec;
                    ret = GTSCardAPI.GT_SetJogPrm((short)IConfig.CardNum, (short)optionPara.AxisIndex, ref jogprm);//设置jog运动参数
                    ret = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)optionPara.AxisIndex, optionPara.VelocityPara.Velocity);//设置目标速度
                    ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//更新轴运动

                    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(10);
                    }
                    repeatTime--;
                } while (ret != (short)GTSRetCode.GRCRunOK && repeatTime > 0);
                return (ret == (short)GTSRetCode.GRCRunOK);
            }
            catch (Exception ex)
            {
                AllMoveStop(true);
                OnExceptionRaised?.Invoke(ex);
                return false;
            }
            return true;

        }

        /// <summary>
@@ -283,7 +470,7 @@
        /// <param name="axisNum">AxisNo</param>
        /// <param name="nDistance">run distance</param>
        /// <returns></returns>
        public bool MoveRel(MovingOption optionPara)
        public bool P2PMoveRel(MovingOption optionPara)
        {
            try
            {
@@ -314,11 +501,14 @@

                LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "开始运动", "目标坐标：" + optionPara.Destination);
                short ret = 0;
                repeatTime = 1000;
                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);
                    ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition * IConfig.AxisVelocityRatio));// 设置规划位置
                    ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//更新运动

@@ -327,8 +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 && 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;
@@ -354,7 +548,7 @@
        ///  绝对位置运动
        /// </summary>
        /// <param name="optionPara">运动参数对象</param>
        public bool MoveAbs(MovingOption optionPara)
        public bool P2PMoveAbs(MovingOption optionPara)
        {
            try
            {
@@ -382,9 +576,12 @@
                }
                LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "开始运动", "目标坐标：" + optionPara.Destination);
                short ret = 0;
                repeatTime = 1000;
                do
                bool isSuccessSetAxisParam = false;
                int timeout = optionPara.MovingTimeout;
                while (CurrentState == DeviceState.DSOpen)
                {
                    //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_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//更新运动

@@ -393,8 +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 && repeatTime > 0);
                    timeout -= 50;
                    if ((ret == (short)GTSRetCode.GRCRunOK && isSuccessSetAxisParam) || (optionPara.MovingTimeout > 0 && timeout < 0))
                    {
                        break;
                    }
                }

                bool isStop = false;
                repeatTime = 1000;
@@ -416,41 +617,58 @@
        }

        /// <summary>
        /// 运动停止
        /// 某个轴运动停止
        /// </summary>
        /// <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 void MoveStop(int axisNum, int option)
        public async Task<bool> MoveStop(int axisNum, int option)
        {
            if (option == 1)
            return await Task.Run(() =>
            {
                StateChange(EnumHelper.DeviceState.DSExcept);
            }
            var ret = GTSCardAPI.GT_Stop((short)IConfig.CardNum, 1 << (axisNum - 1), option);
            if (ret != (short)GTSRetCode.GRCRunOK)
            {
                LogAsync(DateTime.Now, "轴" + axisNum + "运动停止异常", "错误码：" + ret);
                throw new Exception("轴" + axisNum + "运动停止异常，错误码：" + ret);
            }
            else
            {
                LogAsync(DateTime.Now, "轴" + axisNum + "运动停止", "");
            }
                bool isStop = false;
                if (option == 1)
                {
                    StateChange(EnumHelper.DeviceState.DSExcept);
                }
                var ret = GTSCardAPI.GT_Stop((short)IConfig.CardNum, 1 << (axisNum - 1), option);
                if (ret != (short)GTSRetCode.GRCRunOK)
                {
                    LogAsync(DateTime.Now, "轴" + axisNum + "运动停止异常", "错误码：" + ret);
                    throw new Exception("轴" + axisNum + "运动停止异常，错误码：" + ret);
                }
                else
                {
                    LogAsync(DateTime.Now, "轴" + axisNum + "运动停止", "");
                }
                int repeatTime = 100;
                do
                {
                    isStop = IsStop((short)IConfig.CardNum, (short)axisNum);
                    Thread.Sleep(10);
                    repeatTime--;
                } while (!isStop && repeatTime > 0);

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

        /// <summary>
        /// 所有开启的轴关闭
        /// 所有开启的轴停止
        /// </summary>
        /// <param name="emergencyStop"></param>
        public void AllMoveStop(bool emergencyStop = false)
        {
            int option = emergencyStop ? 1 : 0;

            List<Task<bool>> taskList = new List<Task<bool>>(); ;
            // 如果是多个轴的运动 等每个轴运动结束
            IConfig.AxisSettings.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>
            {
                MoveStop(axisNum.AxisIndex, option);
                var task = MoveStop(axisNum.AxisIndex, option);
                taskList.Add(task);
            });
            Task.WaitAll(taskList.ToArray());
            var resultOK = taskList.All(u => u.GetAwaiter().GetResult());
        }

        /// <summary>
@@ -506,7 +724,7 @@
        }

        /// <summary>
        /// 读取输入
        /// 读取IO输入
        /// </summary>
        /// <param name="cardNum">卡号</param>
        /// <param name="index">输入口</param>
@@ -515,80 +733,40 @@
        {
            int value;
            GTSCardAPI.GT_GetDi(cardNum, GTSCardAPI.MC_GPI, out value);
            if ((value & 1 << index) == 0) return true;//有输入返回true
            if ((value & (1 << index)) == 0) return true;//有输入返回true
            else return false;          //无输入返回false
        }

        /// <summary>
        /// 输出
        /// 读取IO输出
        /// </summary>
        /// <param name="cardNum">卡号</param>
        /// <param name="index">io索引</param>
        /// <returns></returns>
        public bool GetDoSts(short index)
        {
            int outSts;
            short outNum = (short)(index % 100);
            GTSCardAPI.GT_GetDo((short)IConfig.CardNum, GTSCardAPI.MC_GPO, out outSts);
            if ((outSts & (1 << outNum)) == 0) return true;
            else return false;
        }

        /// <summary>
        /// 按位设置数字 IO 输出状态
        /// </summary>
        /// <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 void WriteOut(short index, bool value)
        {
            short outNum = (short)(index % 100 + 1);
            if (value)
            {
                GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 0);
                GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, 0);
            }
            else
            {
                GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 1);
                GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, 1);
            }
        }

        /// <summary>
        /// 停止 某个轴
        /// </summary>
        /// <param name="cardNum"></param>
        /// <param name="axisNum">轴号</param>
        /// <param name="value">停止方式，false表示平滑停止，true表示紧急停止</param>
        public void Stop(short cardNum, short axisNum, bool emergencyStop)
        {
            if (emergencyStop)
            {
                GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 1 << (axisNum - 1));
            }
            else
            {
                GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 0);
            }
        }

        /// <summary>
        /// IO输出
        /// </summary>
        /// <param name="cardNum">卡号</param>
        /// <param name="mdl">模块号</param>
        /// <param name="index">IO输出</param>
        /// <param name="value">true表示输出，false表示无输出</param>
        public void MC_WriteDigitalOutput(short cardNum, short mdl, short index, bool value)
        {
            if (value)
            {
                GTSCardAPI.GT_SetExtIoBit(cardNum, mdl, index, 0);
            }
            else
            {
                GTSCardAPI.GT_SetExtIoBit(cardNum, mdl, index, 1);
            }
        }

        /// <summary>
        /// 读取IO输出状态
        /// </summary>
        /// <param name="cardNum"></param>
        /// <param name="index"></param>
        /// <returns></returns>
        public bool GetDoSts(short cardNum, short index)
        {
            short outNum = 0;
            int outSts;
            outNum = (short)(index % 100);
            GTSCardAPI.GT_GetDo(cardNum, GTSCardAPI.MC_GPO, out outSts);
            if ((outSts & (1 << outNum)) == 0) return true;
            else return false;
        }

        /// <summary>
@@ -611,16 +789,241 @@

        #endregion

        public void Monitor()
        #region IMonitor

        public List<IOItem> MonitorValues { get; set; } = new List<IOItem>();


        public List<IOItem> GetMonitorValues()
        {
            throw new NotImplementedException();
            var result = new List<IOItem>();
            //读取IO输入
            int inValue;
            GTSCardAPI.GT_GetDi((short)IConfig.CardNum, GTSCardAPI.MC_GPI, out inValue);
            //读取IO输出
            int outValue;
            GTSCardAPI.GT_GetDo((short)IConfig.CardNum, GTSCardAPI.MC_GPO, out outValue);

            //解析结果
            for (var index = 1; index <= 16; index++)
            {
                IOItem inItem = new IOItem()
                {
                    IONum = index,
                    Value = (inValue & (1 << index)) == 0 ? 1 : 0,
                    IOType = IOType.INPUT
                };
                IOItem outItem = new IOItem()
                {
                    IONum = index,
                    Value = (outValue & (1 << index)) == 0 ? 1 : 0,
                    IOType = IOType.OUTPUT
                };
                result.Add(inItem);
                result.Add(outItem);
            }

            return result;
        }

        public void ResetAlarm()
        public async override void Monitor()
        {
            throw new NotImplementedException();
            await Task.Run(() =>
            {
                while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept && CurrentState != EnumHelper.DeviceState.DSUninit)
                {
                    try
                    {
                        if (!IConfig.IsEnableMonitor)
                            return;
                        var newValues = GetMonitorValues();
                        if (newValues == null || newValues.Count == 0)
                            continue;

                        Stopwatch sw = new Stopwatch();
                        sw.Start();
                        if (MonitorValues.Count == newValues.Count)
                        {
                            var tempNew = newValues.DeepSerializeClone();//clone
                            var tempOld = MonitorValues.DeepSerializeClone();
                            MonitorCheckAndInvoke(tempNew, tempOld);
                        }
                        MonitorValues = new List<IOItem>(newValues);
                        sw.Stop();

                        if (sw.ElapsedMilliseconds > 20)
                        {
                            LogAsync(DateTime.Now, $"{this.Name}轮询时间：{sw.ElapsedMilliseconds}", "");
                        }

                        if (IConfig.MonitorInterval > 0)
                        {
                            Thread.Sleep(IConfig.MonitorInterval);
                        }

                    }
                    catch (Exception ex)
                    {
                        if (CurrentState == DeviceState.DSOpen)
                        {
                            LogAsync(DateTime.Now, $"{this.Name}监听异常", ex.GetExceptionMessage());
                        }
                    }
                }
            });
        }

        private void OnMethodInvoked(IAsyncResult ar)
        {
            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()}");
        }

        protected void MonitorCheckAndInvoke(List<IOItem> tempNew, List<IOItem> tempOld)
        {
            #region 警报信息
            Parallel.ForEach(IConfig.WarningSetCollection, wSet =>
            {
                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);

                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);
                    ExcuteMonitorAlarm(DateTime.Now, this, warningSet);
                }
            });
            #endregion

            #region 监听信息
            Parallel.ForEach(IConfig.MonitorSetCollection, mSet =>
            {
                MotionCardMonitorSet monitorSet = mSet as MotionCardMonitorSet;
                if (monitorSet.TriggerIndex < 0 || monitorSet.TriggerIndex > tempNew.Count)
                {
                    return;
                }

                var newIOItem = tempNew.FirstOrDefault(u => u.IONum == monitorSet.TriggerIndex);
                var oldIOItem = tempOld.FirstOrDefault(u => u.IONum == monitorSet.TriggerIndex);

                if (newIOItem?.Value != oldIOItem?.Value)
                {
                    if (monitorSet.TriggerValue == -999 || newIOItem.Value == monitorSet.TriggerValue)
                    {
                        if (monitorSet.OpConfig == null)
                        {
                            monitorSet.OpConfig = new OperationConfigBase();
                        }

                        //monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
                        //{
                        //    return tempNew[index].Value;
                        //}).ToList();

                        ExcuteMonitorInvok(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet, OnMethodInvoked);
                    }
                }
            });
            #endregion
        }

        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);
                if ((axis_sts & 0x200) == 0)
                {
                    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);
                // 正极限报警
                if ((axis_sts & 0x20) != 0)
                {
                    // 负向移动
                    MovingOption movingOption = new MovingOption();
                    movingOption.AxisIndex = (short)axisSetting.AxisIndex;
                    movingOption.Destination = -50; // 负向移动
                    movingOption.VelocityPara.Velocity = 50;
                    P2PMoveAbs(movingOption);
                }

                // 负极限报警
                if ((axis_sts & 0x40) != 0)
                {
                    // 正向移动
                    MovingOption movingOption = new MovingOption();
                    movingOption.AxisIndex = (short)axisSetting.AxisIndex;
                    movingOption.Destination = 50; // 负向移动
                    movingOption.VelocityPara.Velocity = 50;
                    P2PMoveAbs(movingOption);
                }
            }

            // 清除状态
            GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, 1, (short)IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled).Count);
        }

        object _alarmLock = new object();
        private async void SaveAlarmCSVAsync(DateTime now, string plcName, IWarningSet ws)
        {
            await Task.Run(() =>
            {
                lock (_alarmLock)
                {
                    DirectoryInfo dir = new DirectoryInfo(this.IConfig.LogPath);
                    if (!dir.Exists)
                    {
                        dir.Create();
                    }

                    string path = Path.Combine(IConfig.LogPath, $"Alarm_{Name}_{now.ToString("yyyyMMdd")}.csv");
                    bool fileExist = File.Exists(path);

                    using (StreamWriter writer = new StreamWriter(path, true, System.Text.Encoding.UTF8))
                    {
                        if (!fileExist)
                        {
                            writer.WriteLine("Time,Source,AlarmCode,AlarmDescription,AlarmStatus");
                        }

                        writer.WriteLine($"{now.ToString("HH:mm:ss.fff")},{plcName},{ws.WarningCode},{ws.WarningDescription},{(ws.CurrentStatus ? "报警" : "停止")}");

                        writer.Flush();
                        writer.Close();
                    }
                }
            });
        }
        #endregion
    }
}