1. gocator添加重试和清理缓存操作 2. gts板卡调整监听频率 3. 记录产品数据使用filsstream避免程序崩溃影响

patrick.xu

2021-01-25 e69865a1a3739740201bac8782b721da35d49923

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -312,7 +312,6 @@
            }
        }


        public override bool AllAxisOn()
        {
            List<Task<bool>> taskList = new List<Task<bool>>(); ;
@@ -387,7 +386,7 @@
                responseMessage.Result = resultList.All(u => u == true);
                if (!responseMessage.Result)
                {
                    responseMessage.Message = $"点位运动异常";
                    responseMessage.Message = $"点位运动异常,运动结果：{string.Join(" ", resultList.Select(u => u ? "1" : "0"))}";
                }
            }
            return responseMessage;
@@ -400,24 +399,28 @@
        /// <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 +430,10 @@
            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);
@@ -646,7 +650,9 @@
                if (CurrentState != EnumHelper.DeviceState.DSOpen)
                {
                    LogAsync(DateTime.Now, "非正常状态异常", "轴" + optionPara.AxisIndex + "试图在非正常状态运动");
                    throw new ProcessException("轴" + optionPara.AxisIndex + "试图在非正常状态运动", null);

                    return false;
                    //throw new ProcessException("轴" + optionPara.AxisIndex + "试图在非正常状态运动", null);
                }

                LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "开始运动", "目标坐标：" + optionPara.Destination);
@@ -725,8 +731,11 @@
                if (CurrentState != EnumHelper.DeviceState.DSOpen)
                {
                    LogAsync(DateTime.Now, "非正常状态异常", "轴" + optionPara.AxisIndex + "试图在非正常状态运动");
                    throw new ProcessException("轴" + optionPara.AxisIndex + "试图在非正常状态运动", null);

                    return false;
                    //throw new ProcessException("轴" + optionPara.AxisIndex + "试图在非正常状态运动", null);
                }

                LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "开始运动", "目标坐标：" + optionPara.Destination);
                short ret = 0;
                bool isSuccessSetAxisParam = false;
@@ -760,7 +769,14 @@
                    repeatTime--;
                }

                return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
                if (repeatTime <= 0)
                {
                    LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "APS_absolute_move未停止", "");
                    return false;
                }

                //return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
                return true;
            }
            catch (Exception ex)
            {
@@ -783,7 +799,8 @@
                bool isStop = false;
                if (option == 1)
                {
                    StateChange(EnumHelper.DeviceState.DSExcept);
                    //StateChange(EnumHelper.DeviceState.DSExcept);
                    LogAsync(DateTime.Now, "急停停止", "");
                }
                var ret = GTSCardAPI.GT_Stop((short)IConfig.CardNum, 1 << (axisNum - 1), option);
                if (ret != (short)GTSRetCode.GRCRunOK)
@@ -1045,6 +1062,10 @@
                OnExceptionOccured?.Invoke(DateTime.Now, ex);
                return false;
            }
            finally
            { 
            
            }
        }

        /// <summary>
@@ -1224,7 +1245,9 @@
                            }
                        });

                        _positionWait.SpinOnce();
                        Task.Delay(100).Wait();

                        //_positionWait.SpinOnce();
                    }
                    catch (Exception ex)
                    {
@@ -1261,7 +1284,8 @@
                            }
                        });

                        _statusWait.SpinOnce();
                        Thread.Sleep(10);
                        //Task.Delay(10).Wait();
                    }
                    catch (Exception ex)
                    {