卡

wells

2020-07-11 e16d7399dc937da1de62b3f279f2ab904cb6488b

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -21,7 +21,7 @@
    public class GTSCardDriver : MotionCardBase
    {
        // 异常事件
        public Action<Exception> OnExceptionRaised;
        //public Action<Exception> OnExceptionRaised;

        public GTSCardInitialConfig IIConfig
        {
@@ -61,7 +61,7 @@
            {
                AxisInfo axisInfo = new AxisInfo();
                axisInfo.AxisName = axisSetting.AxisName;
                var axisMovingStatus = AxisMovingOptionValues.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex);
                var axisMovingStatus = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex);
                axisInfo.AxisLocation = axisMovingStatus == null ? 0 : Convert.ToDouble(axisMovingStatus.CurPosition);

                axisInfos.Add(axisInfo);
@@ -96,6 +96,8 @@
        protected override void Start()
        {
            AllAxisOn();

            base.Start();
        }

        protected override void Stop()
@@ -220,7 +222,7 @@
        /// <summary>
        /// 启动立即暂停
        /// </summary>
        public void SetImmediatePause()
        public override void SetImmediatePause()
        {
            if (!_isResetting)
            {
@@ -240,7 +242,7 @@
        /// <summary>
        /// 恢复立即暂停
        /// </summary>
        public void ResetImmediatePause()
        public override void ResetImmediatePause()
        {
            var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();

@@ -554,7 +556,7 @@
            catch (Exception ex)
            {
                AllMoveStop(true);
                OnExceptionRaised?.Invoke(ex);
                OnExceptionOccured?.Invoke(DateTime.Now, ex);
                return false;
            }
        }
@@ -635,7 +637,7 @@
            catch (Exception ex)
            {
                AllMoveStop(true);
                OnExceptionRaised?.Invoke(ex);
                OnExceptionOccured?.Invoke(DateTime.Now, ex);
                return false;
            }
        }
@@ -710,7 +712,7 @@
            catch (Exception ex)
            {
                AllMoveStop(true);
                OnExceptionRaised?.Invoke(ex);
                OnExceptionOccured?.Invoke(DateTime.Now, ex);
                return false;
            }
        }
@@ -817,7 +819,7 @@
            catch (Exception ex)
            {
                AllMoveStop(true);
                OnExceptionRaised?.Invoke(ex);
                OnExceptionOccured?.Invoke(DateTime.Now, ex);
                return false;
            }
        }
@@ -857,7 +859,7 @@
        /// <param name="value">false表示输出，true表示关闭</param>
        public override void WriteOutput(short index, IOValue value)
        {
            short outNum = (short)(index % 100);
            short outNum = (short)(index % 100 + 1);
            if ((int)value <= 1)
            {
                GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)value);
@@ -877,7 +879,7 @@
        /// <returns></returns>
        public bool IsStop(short axisNum)
        {
            int sts = GetAxisStatus(axisNum);
            int sts = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisNum).AxisStatus;
            if ((sts & 0x400) == 0) return true;//停止返回true
            else return false;              //运行中返回false
        }
@@ -931,10 +933,10 @@
                AxisMovingStatus axisMovingStatus = new AxisMovingStatus();
                axisMovingStatus.AxisIndex = axisConfig.AxisIndex;
                axisMovingStatus.AxisName = axisConfig.AxisName;
                axisMovingStatus.CurPosition = Convert.ToInt32(GetPosition(axisMovingStatus.AxisIndex));
                //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.CurVelocity = GetVelocity(axisMovingStatus.AxisIndex);
                //axisMovingStatus.PrfVelocity = GetPrfVelocity(axisMovingStatus.AxisIndex);
                axisMovingStatus.AxisStatus = GetAxisStatus(axisMovingStatus.AxisIndex);

                axisMovingStatusesList.Add(axisMovingStatus);
@@ -956,7 +958,7 @@
            GTSCardAPI.GT_GetDo((short)IConfig.CardNum, GTSCardAPI.MC_GPO, out outValue);

            //解析结果
            for (var index = 1; index <= 16; index++)
            for (var index = 0; index < 16; index++)
            {
                IOItem inItem = new IOItem()
                {
@@ -987,8 +989,10 @@
                    {
                        if (!IConfig.IsEnableMonitor)
                            return;

                        var newValues = GetMonitorValues();
                        var newAxisMovingStatus = GetAxisMovingStatus();

                        if (newValues == null || newValues.Count == 0 || newAxisMovingStatus == null || newAxisMovingStatus.Count == 0)
                            continue;

@@ -996,12 +1000,21 @@
                        sw.Start();
                        if (MonitorValues.Count == newValues.Count)
                        {
                            var tempNew = newValues.DeepSerializeClone();//clone
                            var tempOld = MonitorValues.DeepSerializeClone();
                            //var tempNew = newValues.DeepSerializeClone();//clone
                            //var tempOld = MonitorValues.DeepSerializeClone();
                            var tempNew = new List<IOItem>(newValues);//clone
                            var tempOld = new List<IOItem>(MonitorValues);
                            MonitorCheckAndInvoke(tempNew, tempOld);
                        }

                        AxisMovingOptionValues = new List<AxisMovingStatus>(newAxisMovingStatus);
                        if (AxisStatusList.Count == newAxisMovingStatus.Count)
                        {
                            var tempNew = new List<AxisMovingStatus>(newAxisMovingStatus);//clone
                            var tempOld = new List<AxisMovingStatus>(AxisStatusList);
                            AxisStatusCheck(tempNew, tempOld);
                        }

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

@@ -1021,6 +1034,29 @@
                        if (CurrentState == DeviceState.DSOpen)
                        {
                            LogAsync(DateTime.Now, $"{this.Name}监听异常", ex.GetExceptionMessage());
                        }
                    }
                }
            });
        }

        private async void AxisStatusCheck(List<AxisMovingStatus> tempNew, List<AxisMovingStatus> tempOld)
        {
            await Task.Run(() =>
            {
                foreach (var newSts in tempNew)
                {
                    var oldSts = tempOld.FirstOrDefault(u => u.AxisIndex == newSts.AxisIndex);
                    if (oldSts != null)
                    {
                        if (oldSts.AxisStatus != newSts.AxisStatus)
                        {
                            AxisStatusChanged(newSts.AxisIndex, oldSts.AxisStatus, newSts.AxisStatus);
                        }

                        if (((newSts.AxisStatus >> 1 & 1) == 1) && ((oldSts.AxisStatus >> 1 & 1) == 0)) //初次报警
                        {
                            AxisAlarmRaised(newSts.AxisStatus, $"轴{newSts.AxisIndex}:{newSts.AxisName}轴伺服报警");
                        }
                    }
                }
@@ -1092,10 +1128,10 @@
                            monitorSet.OpConfig = new OperationConfigBase();
                        }

                        //monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
                        //{
                        //    return tempNew[index].Value;
                        //}).ToList();
                        monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
                        {
                            return tempNew[index].Value == IOValue.TRUE ? 1 : 0;
                        }).ToList();

                        ExcuteMonitorInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet);
                    }
@@ -1111,7 +1147,8 @@
            ClearStatus(1, axisSettings.Count);
            foreach (var axisSetting in axisSettings)
            {
                axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
                //axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
                axis_sts = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex).AxisStatus;
                if ((axis_sts & 0x200) == 0)
                {
                    var rst = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisSetting.AxisIndex);