配置变动和界面显示联动

xcd

2020-07-10 cdf12e1954c78e187b142c7d7a460ec7387067f7

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -38,11 +38,16 @@
        bool _isResetting = false;

        /// <summary>
        /// 是否暂停中
        /// </summary>
        bool _isPause = false;

        /// <summary>
        /// 运动轴立即暂停
        /// </summary>
        Dictionary<int, ManualResetEvent> axisImmediatePauseHandleDict = new Dictionary<int, ManualResetEvent>();

        Dictionary<int, CancellationTokenSource> axisMoveCancelDict = new Dictionary<int, CancellationTokenSource>();
        //Dictionary<int, CancellationTokenSource> axisMoveCancelDict = new Dictionary<int, CancellationTokenSource>();

        public void SetResetFlag(bool isReset)
        {
@@ -70,12 +75,12 @@
        {
            InitialMotionCard();
            axisImmediatePauseHandleDict = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ToDictionary(a => a.AxisIndex, a => new ManualResetEvent(true));
            axisMoveCancelDict = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ToDictionary(a => a.AxisIndex, a => new CancellationTokenSource());
            //axisMoveCancelDict = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ToDictionary(a => a.AxisIndex, a => new CancellationTokenSource());

            axisMoveCancelDict.Values.ToList().ForEach(c =>
            {
                c = new CancellationTokenSource();
            });
            //axisMoveCancelDict.Values.ToList().ForEach(c =>
            //{
            //    c = new CancellationTokenSource();
            //});
        }

        protected override void Pause()
@@ -157,7 +162,7 @@
            // 2.板卡运动
            if (CurrentState == DeviceState.DSOpen)
            {
                responseMessage = MoveToPoint(operationSet.MotionOperationCollection);
                responseMessage = MoveToPoint(new MotionOperationCollection() { MovingOps = operationSet.MovingOps });
                if (!responseMessage.Result)
                {
                    return responseMessage;
@@ -225,9 +230,9 @@
                {
                    axisImmediatePauseHandleDict[axisIndex].Reset();

                    axisMoveCancelDict[axisIndex].Cancel();
                    //axisMoveCancelDict[axisIndex].Cancel();

                    await MoveStop(axisIndex, 0);
                    await MoveStop(axisIndex, 0);//所有轴都暂停
                });
            }
        }
@@ -241,7 +246,7 @@

            immediatePauseAxis.ForEach(axisIndex =>
            {
                axisMoveCancelDict[axisIndex] = new CancellationTokenSource();
                //axisMoveCancelDict[axisIndex] = new CancellationTokenSource();

                axisImmediatePauseHandleDict[axisIndex].Set();
            });
@@ -357,14 +362,15 @@
        {
            List<short> resultCode = new List<short>() { 0 };
            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));
            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;
            trapprm.acc = optionPara.VelocityPara.Acc != 0 ? optionPara.VelocityPara.Acc : 1;
            trapprm.dec = optionPara.VelocityPara.Dec != 0 ? optionPara.VelocityPara.Dec : 1;

            resultCode.Add(GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, (short)optionPara.AxisIndex, ref trapprm));
            resultCode.Add(GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)optionPara.AxisIndex, optionPara.VelocityPara.Velocity * IConfig.AxisVelocityRatio));
            resultCode.Add(GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, axisIndex, ref trapprm));
            resultCode.Add(GTSCardAPI.GT_SetVel((short)IConfig.CardNum, axisIndex, optionPara.VelocityPara.Velocity * IConfig.AxisVelocityRatio));

            var resultOK = resultCode.All(u => u == (short)GTSRetCode.GRCRunOK);
            if (!resultOK)
@@ -382,13 +388,12 @@
        {
            return await Task.Run(() =>
            {
                axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
                bool isSuccessAndStop = false;
                try
                {
                    if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
                    {
                        axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();

                        string _position = "";
                        string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();

@@ -454,7 +459,8 @@
            {
                throw new Exception("轴" + axisNum + "获取规划位置异常，错误码：" + ret);
            }
            position = prfpos / IConfig.AxisVelocityRatio;
            var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum).AxisRatio;
            position = prfpos / AxisRatio;
            return position;
        }

@@ -474,7 +480,8 @@
                {
                    throw new Exception("轴" + axisNum + "获取目标位置异常，错误码：" + ret);
                }
                position = pPos / IConfig.AxisVelocityRatio;
                var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum).AxisRatio;
                position = pPos / AxisRatio;
                return position;
            }
        }
@@ -483,7 +490,7 @@
        /// 获取规划速度
        /// </summary>
        /// <param name="axisNum">Axis number</param>
        /// <returns></returns>
        /// <returns>速度脉冲</returns>
        public double GetPrfVelocity(int axisNum)
        {
            double prfVel = 0;
@@ -493,7 +500,6 @@
            {
                throw new Exception("轴" + axisNum + "获取规划速度异常，错误码：" + ret);
            }
            prfVel = prfVel / IConfig.AxisVelocityRatio;
            return prfVel;
        }

@@ -501,7 +507,7 @@
        /// 获取当前速度
        /// </summary>
        /// <param name="axisNum">Axis number</param>
        /// <returns></returns>
        /// <returns>速度脉冲</returns>
        public double GetVelocity(int axisNum)
        {
            double vel = 0;
@@ -510,7 +516,6 @@
            {
                throw new Exception("轴" + axisNum + "获取当前速度异常，错误码：" + ret);
            }
            vel = vel / IConfig.AxisVelocityRatio;
            return vel;
        }

@@ -595,11 +600,12 @@
                int currentPosition = (int)GetPosition(optionPara.AxisIndex);
                int dPosition = optionPara.Destination + currentPosition;
                int timeout = optionPara.MovingTimeout;
                var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex).AxisRatio;
                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_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition * AxisRatio));// 设置规划位置
                    ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//更新运动

                    if (ret != (short)GTSRetCode.GRCRunOK)
@@ -670,11 +676,12 @@
                short ret = 0;
                bool isSuccessSetAxisParam = false;
                int timeout = optionPara.MovingTimeout;
                while (CurrentState == DeviceState.DSOpen)
                var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex).AxisRatio;
                while (CurrentState == DeviceState.DSOpen && !_isPause)
                {
                    //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_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(optionPara.Destination * AxisRatio));// 设置规划位置
                    ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//更新运动

                    if (ret != (short)GTSRetCode.GRCRunOK)
@@ -691,12 +698,12 @@

                bool isStop = false;
                repeatTime = 1000;
                do
                while (!isStop && repeatTime > 0)
                {
                    isStop = IsStop((short)optionPara.AxisIndex);
                    Thread.Sleep(50);
                    repeatTime--;
                } while (!isStop && repeatTime > 0);
                }

                return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
            }
@@ -773,7 +780,7 @@
        {
            try
            {
                GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);
                PositionReset(movingOption.AxisIndex, 1);
                GTSCardAPI.THomePrm thomeprm;
                GTSCardAPI.THomeStatus homests;
                short rtn = GTSCardAPI.GT_GetHomePrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out thomeprm);
@@ -800,7 +807,7 @@
                    if (isStop && homests.error == 0)
                    {
                        Thread.Sleep(200);
                        GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);
                        PositionReset(movingOption.AxisIndex, 1);
                    }
                    repeatTime--;
                } while (!isStop && repeatTime > 0);
@@ -897,10 +904,19 @@
            return rtn == (short)GTSRetCode.GRCRunOK;
        }

        /// <summary>
        /// 位置回零
        /// </summary>
        /// <param name="startAxisIndex"></param>
        /// <param name="count"></param>
        /// <returns></returns>
        public override bool PositionReset(int startAxisIndex, int count)
        {
            var rtn = GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)startAxisIndex, (short)count);
            return rtn == (short)GTSRetCode.GRCRunOK;
            lock (moveLock)
            {
                var rtn = GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)startAxisIndex, (short)count);
                return rtn == (short)GTSRetCode.GRCRunOK;
            }
        }

        #endregion
@@ -1013,27 +1029,27 @@

        public override void OnMethodInvoked(IAsyncResult ar)
        {
            MotionCardMonitorSet monitorSet = ar.AsyncState as MotionCardMonitorSet;
            ProcessResponse resValues = monitorSet.Response;
            if (resValues.ResultValue == (int)ReplyValue.IGNORE)
            {
                return;
            }
            //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()}");
            //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)
@@ -1100,8 +1116,8 @@
                {
                    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);
                // 所有位置请零
                PositionReset(1, axisSettings.Count);
                // 正极限报警
                if ((axis_sts & 0x20) != 0)
                {