M071.git - Gitblit

			@@ -323,13 +323,13 @@
			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();
			string motionType = optionPara.MoveMode == EnumHelper.MotionMode.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)
			{
			case MotorMoveMode.Normal:
			case MotionMode.Normal:
			{
			if (_isResetting)
			{
			@@ -348,12 +348,12 @@

			}
			break;
			case MotorMoveMode.FindOri:
			case MotionMode.FindOri:
			{
			isSuccessAndStop = GoHome(optionPara);
			}
			break;
			case MotorMoveMode.Jog:
			case MotionMode.Jog:
			{
			isSuccessAndStop = JogMove(optionPara);
			}
			@@ -413,6 +413,41 @@
			}

			/// <summary>
			/// 获取规划速度
			/// </summary>
			/// <param name="axisNum">Axis number</param>
			/// <returns></returns>
			public double GetPrfVelocity(int axisNum)
			{
			double prfVel = 0;
			uint pclock = 0;
			var ret = GTSCardAPI.GT_GetPrfVel((short)IConfig.CardNum, (short)axisNum, out prfVel, 1, out pclock);
			if (ret != (short)GTSRetCode.GRCRunOK)
			{
			throw new Exception("轴" + axisNum + "获取规划速度异常，错误码：" + ret);
			}
			prfVel = prfVel / IConfig.AxisVelocityRatio;
			return prfVel;
			}

			/// <summary>
			/// 获取当前速度
			/// </summary>
			/// <param name="axisNum">Axis number</param>
			/// <returns></returns>
			public double GetVelocity(int axisNum)
			{
			double vel = 0;
			var ret = GTSCardAPI.GT_GetVel((short)IConfig.CardNum, (short)axisNum, out vel);
			if (ret != (short)GTSRetCode.GRCRunOK)
			{
			throw new Exception("轴" + axisNum + "获取当前速度异常，错误码：" + ret);
			}
			vel = vel / IConfig.AxisVelocityRatio;
			return vel;
			}

			/// <summary>
			/// Set Single Axis Do Jog Move
			/// </summary>
			/// <param name="axisNum">AxisNo</param>
			@@ -437,7 +472,7 @@

			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--;
			@@ -450,29 +485,6 @@
			OnExceptionRaised?.Invoke(ex);
			return false;
			}

			}

			/// <summary>
			/// Set Single Axis Do stop Jog Move
			/// </summary>
			/// <param name="axisNum">AxisNo</param>
			/// <returns></returns>
			public bool StopJog(int axisNum)
			{
			//停止运动
			MoveStop(axisNum, 0);
			//运动开始后检查运动是否停止
			bool isStop = false;
			int repeatTime = 1000;
			do
			{
			isStop = IsStop((short)IConfig.CardNum, (short)axisNum);
			Thread.Sleep(50);
			repeatTime--;
			} while (!isStop && repeatTime > 0);

			return isStop;
			}

			/// <summary>
			@@ -540,7 +552,7 @@
			repeatTime = 1000;
			do
			{
			isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
			isStop = IsStop((short)optionPara.AxisIndex);
			Thread.Sleep(50);
			repeatTime--;
			} while (!isStop && repeatTime > 0);
			@@ -612,7 +624,7 @@
			repeatTime = 1000;
			do
			{
			isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
			isStop = IsStop((short)optionPara.AxisIndex);
			Thread.Sleep(50);
			repeatTime--;
			} while (!isStop && repeatTime > 0);
			@@ -655,7 +667,7 @@
			int repeatTime = 100;
			do
			{
			isStop = IsStop((short)IConfig.CardNum, (short)axisNum);
			isStop = IsStop((short)axisNum);
			Thread.Sleep(10);
			repeatTime--;
			} while (!isStop && repeatTime > 0);
			@@ -767,17 +779,17 @@
			/// </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 override void WriteOutput(short cardNum, short index, IOValue value)
			public override void WriteOutput(short index, IOValue value)
			{
			short outNum = (short)(index % 100 + 1);
			if ((int)value <= 1)
			{
			GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, (short)value);
			GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)value);
			}
			else
			{
			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));
			GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)(currentValue == 1 ? 0 : 1));
			}
			}

			@@ -787,23 +799,53 @@
			/// <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

			//public List<IOItem> MonitorValues { get; set; } = new List<IOItem>();
			public List<AxisMovingStatus> GetAxisMovingStatus()
			{
			List<AxisMovingStatus> axisMovingStatusesList = new List<AxisMovingStatus>();
			foreach (var axisConfig in IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled))
			{
			AxisMovingStatus axisMovingStatus = new AxisMovingStatus();
			axisMovingStatus.AxisIndex = axisConfig.AxisIndex;
			axisMovingStatus.AxisName = axisConfig.AxisName;
			axisMovingStatus.CurPosition = Convert.ToInt32(GetPosition(axisMovingStatus.AxisIndex));
			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);

			}

			return axisMovingStatusesList;
			}


			public List<IOItem> GetMonitorValues()
			@@ -849,7 +891,8 @@
			if (!IConfig.IsEnableMonitor)
			return;
			var newValues = GetMonitorValues();
			if (newValues == null \|\| newValues.Count == 0)
			var newAxisMovingStatus = GetAxisMovingStatus();
			if (newValues == null \|\| newValues.Count == 0 \|\| newAxisMovingStatus == null \|\| newAxisMovingStatus.Count == 0)
			continue;

			Stopwatch sw = new Stopwatch();
			@@ -860,6 +903,8 @@
			var tempOld = MonitorValues.DeepSerializeClone();
			MonitorCheckAndInvoke(tempNew, tempOld);
			}

			AxisMovingOptionValues = new List<AxisMovingStatus>(newAxisMovingStatus);
			MonitorValues = new List<IOItem>(newValues);
			sw.Stop();

			@@ -965,12 +1010,11 @@
			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);