领胜LDS 键盘AOI检测项目
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
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()


@@ -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;


            }


        }


@@ -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);