基类+板卡驱动修改

wells.liu

2020-07-03 e1ac4d0e483426d5a410b6b4ae04e819f59b621e

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -6,7 +6,9 @@
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Diagnostics;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
@@ -16,16 +18,12 @@
namespace Bro.Device.GTSCard
{
    [Device("GTSCard", "固高板卡", EnumHelper.DeviceAttributeType.Device)]
    public class GTSCardDriver : DeviceBase, IMonitor, IMotion
    public class GTSCardDriver : MotionCardBase
    {
        public event Action<DateTime, string, IDevice, MonitorSet> OnMonitorInvoke;
        public event Action<DateTime, IDevice, WarningSet> OnMonitorAlarm;

        public delegate bool OnAxisStartToCheckDelegate(int axisIndex, int startPosition, int endPosition);
        // 异常事件
        public Action<Exception> OnExceptionRaised;

        public GTSCardInitialConfig IConfig
        public GTSCardInitialConfig IIConfig
        {
            get
            {
@@ -44,7 +42,7 @@
            _isResetting = isReset;
        }

        public List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
        public override List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
        {
            throw new NotImplementedException();
        }
@@ -76,6 +74,14 @@
            AllMoveStop();
            AllAxisOff();
        }

        public override ResponseMessage Run(IOperationConfig config)
        {
            ResponseMessage responseMessage = new ResponseMessage();


            return responseMessage;
        }
        #endregion

        #region GTSCard
@@ -95,6 +101,7 @@
                throw new Exception("板卡载入配置文件异常，错误码：" + res);
            }
        }


        public bool AllAxisOn()
        {
@@ -155,7 +162,7 @@
        /// </summary>
        /// <param name="item">运动对象</param>
        /// <returns>运动控制+停止判断</returns>
        public bool MoveToPoint(IOperationConfig opConfig)
        public override ResponseMessage MoveToPoint(IOperationConfig opConfig)
        {
            bool resultOK = false;
            var gtsOperationConfig = opConfig as GTSCardOperationConfig;
@@ -174,7 +181,8 @@
            Task.WaitAll(taskList.ToArray());
            resultOK = taskList.All(u => u.GetAwaiter().GetResult());

            return resultOK;
            //return resultOK;
            throw new NotImplementedException();
        }

        /// <summary>
@@ -266,18 +274,15 @@
        /// <returns></returns>
        public double GetPrfPosition(int axisNum)
        {
            lock (moveLock)
            double position = 0;
            double prfpos = 0; uint pclock = 0;
            var ret = GTSCardAPI.GT_GetPrfPos((short)IConfig.CardNum, (short)axisNum, out prfpos, 1, out pclock);
            if (ret != (short)GTSRetCode.GRCRunOK)
            {
                double position = 0;
                double prfpos = 0; uint pclock = 0;
                var ret = GTSCardAPI.GT_GetPrfPos((short)IConfig.CardNum, (short)axisNum, out prfpos, 1, out pclock);
                if (ret != (short)GTSRetCode.GRCRunOK)
                {
                    throw new Exception("轴" + axisNum + "获取规划位置异常，错误码：" + ret);
                }
                position = prfpos / IConfig.AxisVelocityRatio;
                return position;
                throw new Exception("轴" + axisNum + "获取规划位置异常，错误码：" + ret);
            }
            position = prfpos / IConfig.AxisVelocityRatio;
            return position;
        }

        /// <summary>
@@ -300,7 +305,6 @@
                return position;
            }
        }


        /// <summary>
        /// Set Single Axis Do Jog Move  
@@ -510,7 +514,7 @@
        }

        /// <summary>
        /// 运动停止
        /// 某个轴运动停止
        /// </summary>
        /// <param name="axisNum">axisNo</param>
        /// <param name="option">0表示平滑停止，1表示紧急停止</param>
@@ -617,7 +621,7 @@
        }

        /// <summary>
        /// 读取输入
        /// 读取IO输入
        /// </summary>
        /// <param name="cardNum">卡号</param>
        /// <param name="index">输入口</param>
@@ -626,12 +630,27 @@
        {
            int value;
            GTSCardAPI.GT_GetDi(cardNum, GTSCardAPI.MC_GPI, out value);
            if ((value & 1 << index) == 0) return true;//有输入返回true
            if ((value & (1 << index)) == 0) return true;//有输入返回true
            else return false;          //无输入返回false
        }

        /// <summary>
        /// 输出
        /// 读取IO输出
        /// </summary>
        /// <param name="cardNum"></param>
        /// <param name="index"></param>
        /// <returns></returns>
        public bool GetDoSts(short cardNum, short index)
        {
            int outSts;
            short outNum = (short)(index % 100);
            GTSCardAPI.GT_GetDo(cardNum, GTSCardAPI.MC_GPO, out outSts);
            if ((outSts & (1 << outNum)) == 0) return true;
            else return false;
        }

        /// <summary>
        /// 按位设置数字 IO 输出状态
        /// </summary>
        /// <param name="cardNum">卡号</param>
        /// <param name="index">输出口,返回1-16</param>
@@ -647,59 +666,6 @@
            {
                GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 1);
            }
        }

        /// <summary>
        /// 停止 某个轴
        /// </summary>
        /// <param name="cardNum"></param>
        /// <param name="axisNum">轴号</param>
        /// <param name="value">停止方式，false表示平滑停止，true表示紧急停止</param>
        public void Stop(short cardNum, short axisNum, bool emergencyStop)
        {
            if (emergencyStop)
            {
                GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 1 << (axisNum - 1));
            }
            else
            {
                GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 0);
            }
        }

        /// <summary>
        /// IO输出
        /// </summary>
        /// <param name="cardNum">卡号</param>
        /// <param name="mdl">模块号</param>
        /// <param name="index">IO输出</param>
        /// <param name="value">true表示输出，false表示无输出</param>
        public void MC_WriteDigitalOutput(short cardNum, short mdl, short index, bool value)
        {
            if (value)
            {
                GTSCardAPI.GT_SetExtIoBit(cardNum, mdl, index, 0);
            }
            else
            {
                GTSCardAPI.GT_SetExtIoBit(cardNum, mdl, index, 1);
            }
        }

        /// <summary>
        /// 读取IO输出状态
        /// </summary>
        /// <param name="cardNum"></param>
        /// <param name="index"></param>
        /// <returns></returns>
        public bool GetDoSts(short cardNum, short index)
        {
            short outNum = 0;
            int outSts;
            outNum = (short)(index % 100);
            GTSCardAPI.GT_GetDo(cardNum, GTSCardAPI.MC_GPO, out outSts);
            if ((outSts & (1 << outNum)) == 0) return true;
            else return false;
        }

        /// <summary>
@@ -722,12 +688,169 @@

        #endregion

        public void Monitor()
        #region IMonitor

        public List<IOItem> MonitorValues { get; set; } = new List<IOItem>();


        public List<IOItem> GetMonitorValues()
        {
            throw new NotImplementedException();
            var result = new List<IOItem>();
            //读取IO输入
            int inValue;
            GTSCardAPI.GT_GetDi((short)IConfig.CardNum, GTSCardAPI.MC_GPI, out inValue);
            //读取IO输出
            int outValue;
            GTSCardAPI.GT_GetDo((short)IConfig.CardNum, GTSCardAPI.MC_GPO, out outValue);

            //解析结果
            for (var index = 1; index <= 16; index++)
            {
                IOItem inItem = new IOItem()
                {
                    IONum = index,
                    Value = (inValue & (1 << index)) == 0 ? 1 : 0,
                    IOType = IOType.In
                };
                IOItem outItem = new IOItem()
                {
                    IONum = index,
                    Value = (outValue & (1 << index)) == 0 ? 1 : 0,
                    IOType = IOType.Out
                };
                result.Add(inItem);
                result.Add(outItem);
            }

            return result;
        }

        public void ResetAlarm()
        public async override void Monitor()
        {
            await Task.Run(() =>
            {
                while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept && CurrentState != EnumHelper.DeviceState.DSUninit)
                {
                    try
                    {
                        if (!IConfig.IsEnableMonitor)
                            return;
                        var newValues = GetMonitorValues();
                        if (newValues == null || newValues.Count == 0)
                            continue;

                        Stopwatch sw = new Stopwatch();
                        sw.Start();
                        if (MonitorValues.Count == newValues.Count)
                        {
                            var tempNew = newValues.DeepSerializeClone();//clone
                            var tempOld = MonitorValues.DeepSerializeClone();
                            MonitorCheckAndInvoke(tempNew, tempOld);
                        }
                        MonitorValues = new List<IOItem>(newValues);
                        sw.Stop();

                        if (sw.ElapsedMilliseconds > 20)
                        {
                            LogAsync(DateTime.Now, $"{this.Name}轮询时间：{sw.ElapsedMilliseconds}", "");
                        }

                        if (IConfig.MonitorInterval > 0)
                        {
                            Thread.Sleep(IConfig.MonitorInterval);
                        }

                    }
                    catch (Exception ex)
                    {
                        if (CurrentState == DeviceState.DSOpen)
                        {
                            LogAsync(DateTime.Now, $"{this.Name}监听异常", ex.GetExceptionMessage());
                        }
                    }
                }
            });
        }

        private void OnMethodInvoked(IAsyncResult ar)
        {
            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.Out)
                {
                    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)
        {
            #region 警报信息
            Parallel.ForEach(IConfig.WarningSetCollection, wSet =>
            {
                MotionCardWarningSet warningSet = wSet as MotionCardWarningSet;

                bool isOn = ((tempNew.FirstOrDefault(u => u.IONum == warningSet.TriggerIndex && u.IOType == warningSet.WarningIOModel)?.Value >> warningSet.TriggerIndex) & 1) == (warningSet.TriggerValue ? 1 : 0);

                if (warningSet.CurrentStatus != isOn)
                {
                    warningSet.CurrentStatus = isOn;
                    warningSet.TriggerTime = DateTime.Now;
                    warningSet.WarningDescription = $"警报：{warningSet.Name}-触发索引：{warningSet.TriggerIndex}-{warningSet.WarningIOModel.GetEnumDescription()}:{warningSet.WarningCode}";
                    SaveAlarmCSVAsync(DateTime.Now, this.Name, warningSet);
                    ExcuteMonitorAlarm(DateTime.Now, this, warningSet);
                }
            });
            #endregion

            #region 监听信息
            Parallel.ForEach(IConfig.MonitorSetCollection, mSet =>
            {
                MotionCardMonitorSet monitorSet = mSet as MotionCardMonitorSet;
                if (monitorSet.TriggerIndex < 0 || monitorSet.TriggerIndex > tempNew.Count)
                {
                    return;
                }

                var newIOItem = tempNew.FirstOrDefault(u => u.IONum == monitorSet.TriggerIndex);
                var oldIOItem = tempOld.FirstOrDefault(u => u.IONum == monitorSet.TriggerIndex);

                if (newIOItem?.Value != oldIOItem?.Value)
                {
                    if (monitorSet.TriggerValue == -999 || newIOItem.Value == monitorSet.TriggerValue)
                    {
                        if (monitorSet.OpConfig == null)
                        {
                            monitorSet.OpConfig = new OperationConfigBase();
                        }

                        //monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
                        //{
                        //    return tempNew[index].Value;
                        //}).ToList();

                        ExcuteMonitorInvok(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet, OnMethodInvoked);
                    }
                }
            });
            #endregion
        }

        public override void ResetAlarm()
        {
            int axis_sts;
            uint clk;
@@ -769,5 +892,37 @@
            GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, 1, (short)IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled).Count);
        }

        object _alarmLock = new object();
        private async void SaveAlarmCSVAsync(DateTime now, string plcName, IWarningSet ws)
        {
            await Task.Run(() =>
            {
                lock (_alarmLock)
                {
                    DirectoryInfo dir = new DirectoryInfo(this.IConfig.LogPath);
                    if (!dir.Exists)
                    {
                        dir.Create();
                    }

                    string path = Path.Combine(IConfig.LogPath, $"Alarm_{Name}_{now.ToString("yyyyMMdd")}.csv");
                    bool fileExist = File.Exists(path);

                    using (StreamWriter writer = new StreamWriter(path, true, System.Text.Encoding.UTF8))
                    {
                        if (!fileExist)
                        {
                            writer.WriteLine("Time,Source,AlarmCode,AlarmDescription,AlarmStatus");
                        }

                        writer.WriteLine($"{now.ToString("HH:mm:ss.fff")},{plcName},{ws.WarningCode},{ws.WarningDescription},{(ws.CurrentStatus ? "报警" : "停止")}");

                        writer.Flush();
                        writer.Close();
                    }
                }
            });
        }
        #endregion
    }
}