0124

patrick.xu

2021-01-24 b5e7fa2db4ac36fdb7bf9fd330d12a72ade9d483

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -400,24 +400,28 @@
        /// <returns></returns>
        private bool SetAxisParam(MovingOption optionPara)
        {
            List<short> resultCode = new List<short>() { 0 };
            List<short> resultCode = new List<short>();
            GTSCardAPI.TTrapPrm trapprm = new GTSCardAPI.TTrapPrm();
            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;

            if (optionPara.VelocityPara.Acc != 0)
            if (optionPara.VelocityPara.Acc != 0 || optionPara.VelocityPara.Dec != 0)
            {
                trapprm.acc = optionPara.VelocityPara.Acc;
            }
                resultCode.Add(GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, axisIndex, out trapprm));
                trapprm.smoothTime = 1;

            if (optionPara.VelocityPara.Dec != 0)
            {
                trapprm.dec = optionPara.VelocityPara.Dec;
            }
                if (optionPara.VelocityPara.Acc != 0)
                {
                    trapprm.acc = optionPara.VelocityPara.Acc;
                }

            resultCode.Add(GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, axisIndex, ref trapprm));
                if (optionPara.VelocityPara.Dec != 0)
                {
                    trapprm.dec = optionPara.VelocityPara.Dec;
                }

                resultCode.Add(GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, axisIndex, ref trapprm));
            }

            if (optionPara.VelocityPara.Velocity != 0)
            {
@@ -427,9 +431,10 @@
            var resultOK = resultCode.All(u => u == (short)GTSRetCode.GRCRunOK);
            if (!resultOK)
            {
                throw new ProcessException("轴" + optionPara.AxisIndex + "设置参数异常，错误码：" + string.Join(",", resultCode));
                //throw new ProcessException("轴" + optionPara.AxisIndex + "设置参数异常，错误码：" + string.Join(",", resultCode));
                LogAsync(DateTime.Now, $"轴{optionPara.AxisIndex}设置参数异常，错误码：{string.Join(",", resultCode)}", "");
            }
            return resultOK;
            return true;
        }

        TaskFactory taskFactory = new TaskFactory(TaskCreationOptions.LongRunning, TaskContinuationOptions.LongRunning);