7.11

wells

2020-07-11 8dd7b24e5649edf6f73e1146c4db576f7eb3dcdb

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -343,8 +343,8 @@
                {
                    var task = SingleAxisMoving(movingOp);
                    taskList.Add(task);
                    task.Start();
                }

                Task.WaitAll(taskList.ToArray());
                responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
                if (!responseMessage.Result)
@@ -382,13 +382,14 @@
            return resultOK;
        }

        TaskFactory taskFactory = new TaskFactory(TaskCreationOptions.LongRunning, TaskContinuationOptions.LongRunning);
        /// <summary>
        /// 单个轴 运动(点到点 jog 回零...）
        /// </summary>
        /// <param name="optionPara">运动参数对象</param>
        public override async Task<bool> SingleAxisMoving(MovingOption optionPara)
        public override Task<bool> SingleAxisMoving(MovingOption optionPara)
        {
            return await Task.Run(() =>
            return new Task<bool>(() =>
            {
                axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
                bool isSuccessAndStop = false;
@@ -461,8 +462,8 @@
            {
                throw new Exception("轴" + axisNum + "获取规划位置异常，错误码：" + ret);
            }
            var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum).AxisRatio;
            position = prfpos / AxisRatio;
            //var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum).AxisRatio;
            position = prfpos ;
            return position;
        }

@@ -476,14 +477,14 @@
            lock (moveLock)
            {
                double position = 0;
                int pPos = 0;
                var ret = GTSCardAPI.GT_GetPos((short)IConfig.CardNum, (short)axisNum, out pPos);
                double pPos = 0;
                var ret = GTSCardAPI.GT_GetPrfPos((short)IConfig.CardNum, (short)axisNum, out pPos, 1, out uint pclock);
                if (ret != (short)GTSRetCode.GRCRunOK)
                {
                    throw new Exception("轴" + axisNum + "获取目标位置异常，错误码：" + ret);
                }
                var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum).AxisRatio;
                position = pPos / AxisRatio;
                //var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum).AxisRatio;
                position = pPos;
                return position;
            }
        }
@@ -607,7 +608,7 @@
                {
                    //设置 运动参数
                    isSuccessSetAxisParam = SetAxisParam(optionPara);
                    ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition * AxisRatio));// 设置规划位置
                    ret = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition * AxisRatio));// 设置目的位置
                    ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//更新运动

                    if (ret != (short)GTSRetCode.GRCRunOK)
@@ -683,7 +684,7 @@
                {
                    //设置 运动参数
                    isSuccessSetAxisParam = SetAxisParam(optionPara);
                    ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(optionPara.Destination * AxisRatio));// 设置规划位置
                    ret = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(optionPara.Destination * AxisRatio));// 设置目标位置
                    ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//更新运动

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