1. M071B机台配置 2. GTS板卡添加回原点捕获模式和输入信号模式 3. CameraBase使用Dictionary类型做图片缓存 4. M...

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2020-09-29 eafdcc5ad6a55d3dfdec6c4787c3f3a9f32efc7f

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -99,6 +99,9 @@
        {
            AllAxisOn();

            MonitorPosition();
            MonitorAxisStatus();

            base.Start();
        }

@@ -443,7 +446,7 @@
                {
                    axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();

                    if (!axisPauseResumeFlag[optionPara.AxisIndex])
                    if (axisPauseResumeFlag.ContainsKey(optionPara.AxisIndex) && !axisPauseResumeFlag[optionPara.AxisIndex])
                        return true;

                    try
@@ -492,7 +495,7 @@
                        isSuccessAndStop = false;
                        LogAsync(DateTime.Now, $"轴{optionPara.AxisIndex}运动异常", ex.GetExceptionMessage());
                    }
                } while (axisImmediatePauseFlag[optionPara.AxisIndex]);
                } while (axisImmediatePauseFlag.ContainsKey(optionPara.AxisIndex) && axisImmediatePauseFlag[optionPara.AxisIndex]);
                return isSuccessAndStop;
            });
        }
@@ -891,19 +894,12 @@
                var goHomePara = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == movingOption.AxisIndex).GoHomePara;
                bool homeDirection = goHomePara.IsHomeDirPositive;
                bool isRightLimitReached = false;

            StartCapture:

                PositionReset(movingOption.AxisIndex, 1);
                ClearStatus(movingOption.AxisIndex, 1);
                short capture = 0;

                GTSCardAPI.TTrapPrm trapPrm;
                bool isStop = false;
                //搜索距离 阶段1
                // 启动Home捕获
                short sRtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);

                // 切换到点位运动模式
                sRtn = GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)movingOption.AxisIndex);
                short sRtn = GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)movingOption.AxisIndex);
                // 读取点位模式运动参数
                sRtn = GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out trapPrm);
                trapPrm.acc = movingOption.VelocityPara.Acc;
@@ -911,90 +907,121 @@
                // 设置点位模式运动参数
                sRtn = GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, ref trapPrm);
                // 设置点位模式目标速度，即回原点速度
                sRtn = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)movingOption.AxisIndex, goHomePara.HighVelocity);
                sRtn = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)movingOption.AxisIndex, goHomePara.HomeVelocity);

                // 设置点位模式目标位置，即原点搜索距离
                sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, homeDirection ? 99999999 : -99999999);
                // 启动运动
                sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));

                int repeatTime = goHomePara.GoHomeTimeOut * 1000;
                short capture;
                int pos;
                uint clk;//时钟参数
                do
                {
                    Thread.Sleep(IConfig.MonitorInterval);
                    // 读取捕获状态
                    GTSCardAPI.GT_GetCaptureStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out capture, out pos, 1, out clk);
                    isStop = IsStop((short)movingOption.AxisIndex);
                    repeatTime -= IConfig.MonitorInterval;
                } while (!(isStop || capture == 1 || repeatTime <= 0));
                    PositionReset(movingOption.AxisIndex, 1);
                    ClearStatus(movingOption.AxisIndex, 1);

                if (repeatTime <= 0)
                {
                    MoveStop((short)movingOption.AxisIndex, 0);
                    throw new ProcessException($"运动轴{movingOption.AxisIndex} ，回原点超时异常");
                }
                    if (goHomePara.IsCaptureMode)
                    {
                        //搜索距离 阶段1
                        // 启动Home捕获
                        sRtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
                    }

                if (isStop && capture != 1)
                {
                    ClearStatus((short)movingOption.AxisIndex, 1);
                    // 设置点位模式目标位置，即原点搜索距离
                    sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, homeDirection ? 99999999 : -99999999);
                    // 启动运动
                    sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));

                    int repeatTime = goHomePara.GoHomeTimeOut * 1000;

                    bool isStop = false;
                    int pos = 0;
                    uint clk;//时钟参数

                    int checkInterval = IConfig.MonitorInterval;
                    if (IConfig.MonitorInterval <= 0)
                    {
                        checkInterval = 10;
                    }

                    do
                    {
                        Thread.Sleep(checkInterval * 2);

                        if (goHomePara.IsCaptureMode)
                        {
                            // 读取捕获状态
                            GTSCardAPI.GT_GetCaptureStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out capture, out pos, 1, out clk);
                        }
                        else
                        {
                            GTSCardAPI.GT_GetDi((short)IConfig.CardNum, GTSCardAPI.MC_HOME, out int pValue);

                            capture = (short)((pValue & (1 << (movingOption.AxisIndex - 1))) == 0 ? 1 : 0);
                        }
                        isStop = IsStop((short)movingOption.AxisIndex);
                        repeatTime -= checkInterval * 2;
                    } while (!(isStop || capture == 1 || repeatTime <= 0));

                    if (repeatTime <= 0)
                    {
                        MoveStop((short)movingOption.AxisIndex, 0);
                        throw new ProcessException($"运动轴{movingOption.AxisIndex} ，回原点超时异常");
                    }

                    var axisStatus = AxisStatusList.FirstOrDefault(u => u.AxisIndex == movingOption.AxisIndex);

                    if (((axisStatus.AxisStatus & 0x20) != 0) || ((axisStatus.AxisStatus & 0x40) != 0))
                    if (isStop && capture != 1)
                    {
                        //movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);

                        //正限位
                        if ((axisStatus.AxisStatus & 0x20) != 0 && !goHomePara.IsCaptureDirPositive)
                        if (((axisStatus.AxisStatus & 0x20) != 0) || ((axisStatus.AxisStatus & 0x40) != 0))
                        {
                            isRightLimitReached = true;
                            //movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);

                            //正限位
                            if ((axisStatus.AxisStatus & 0x20) != 0 && !goHomePara.IsCaptureDirPositive)
                            {
                                isRightLimitReached = true;
                            }

                            //负限位
                            if ((axisStatus.AxisStatus & 0x40) != 0 && goHomePara.IsCaptureDirPositive)
                            {
                                isRightLimitReached = true;
                            }

                            homeDirection = !homeDirection;
                        }

                        ClearStatus(movingOption.AxisIndex, 1);
                    }

                        //负限位
                        if ((axisStatus.AxisStatus & 0x40) != 0 && goHomePara.IsCaptureDirPositive)
                    if (capture == 1)
                    {
                        if (!isRightLimitReached)
                        {
                            isRightLimitReached = true;
                            capture = 0;
                            ClearStatus(movingOption.AxisIndex, 1);
                            //GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
                            continue;
                        }

                        homeDirection = !homeDirection;
                        goto StartCapture;
                        //先stop
                        MoveStop((short)movingOption.AxisIndex, 0);
                        ClearStatus((short)movingOption.AxisIndex, 1);

                        //已经捕获到Home才可以回零 阶段2
                        // 运动到"捕获位置+偏移量"
                        sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, pos + goHomePara.HomeOffset);
                        // 在运动状态下更新目标位置
                        sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
                        isStop = false;

                        repeatTime = 1000;
                        do
                        {
                            Thread.Sleep(20);
                            isStop = IsStop((short)movingOption.AxisIndex);
                            repeatTime--;
                        } while (!isStop && repeatTime > 0);
                        PositionReset(movingOption.AxisIndex, 1);
                        return (sRtn == (short)GTSRetCode.GRCRunOK) && isStop;
                    }

                    throw new ProcessException($"运动轴{movingOption.AxisIndex} ，回原点超时异常");
                }

                if (capture == 1)
                {
                    if (!isRightLimitReached)
                    {
                        capture = 0;
                        goto StartCapture;
                    }

                    //先stop
                    MoveStop((short)movingOption.AxisIndex, 0);
                    ClearStatus((short)movingOption.AxisIndex, 1);
                    //已经捕获到Home才可以回零 阶段2
                    // 运动到"捕获位置+偏移量"
                    sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, pos + goHomePara.HomeOffset);
                    // 在运动状态下更新目标位置
                    sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
                    isStop = false;

                    repeatTime = 1000;
                    do
                    {
                        Thread.Sleep(20);
                        isStop = IsStop((short)movingOption.AxisIndex);
                        repeatTime--;
                    } while (!isStop && repeatTime > 0);
                    PositionReset(movingOption.AxisIndex, 1);
                    return (sRtn == (short)GTSRetCode.GRCRunOK) && isStop;
                }
                } while (!(capture == 1 && isRightLimitReached));
                return false;
            }
            catch (Exception ex)
@@ -1127,7 +1154,6 @@
            return axisMovingStatusesList;
        }


        public List<IOItem> GetMonitorValues()
        {
            var result = new List<IOItem>();
@@ -1160,6 +1186,79 @@
            return result;
        }

        SpinWait _positionWait = new SpinWait();
        private async void MonitorPosition()
        {
            await Task.Run(() =>
            {
                while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept && CurrentState != EnumHelper.DeviceState.DSUninit)
                {
                    try
                    {
                        if (!IConfig.IsEnableMonitor)
                            return;

                        AxisStatusList.ForEach(a =>
                        {
                            int curPosition = (int)GetPrfPosition(a.AxisIndex);

                            if (a.CurPosition != curPosition)
                            {
                                a.CurPosition = curPosition;
                                AxisPositionChanged(a.AxisIndex, curPosition);
                            }
                        });

                        _positionWait.SpinOnce();
                    }
                    catch (Exception ex)
                    {
                        if (CurrentState == DeviceState.DSOpen)
                        {
                            LogAsync(DateTime.Now, $"{this.Name}监听轴信息异常", ex.GetExceptionMessage());
                        }
                    }
                }
            });
        }

        SpinWait _statusWait = new SpinWait();
        private async void MonitorAxisStatus()
        {
            await Task.Run(() =>
            {
                while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept && CurrentState != EnumHelper.DeviceState.DSUninit)
                {
                    try
                    {
                        if (!IConfig.IsEnableMonitor)
                            return;

                        AxisStatusList.ForEach(a =>
                        {
                            int curStatus = GetAxisStatus(a.AxisIndex);

                            if (a.AxisStatus != curStatus)
                            {
                                int temp = a.AxisStatus;
                                a.AxisStatus = curStatus;
                                AxisStatusChanged(a.AxisIndex, temp, curStatus);
                            }
                        });

                        _statusWait.SpinOnce();
                    }
                    catch (Exception ex)
                    {
                        if (CurrentState == DeviceState.DSOpen)
                        {
                            LogAsync(DateTime.Now, $"{this.Name}监听轴信息异常", ex.GetExceptionMessage());
                        }
                    }
                }
            });
        }

        public async override void Monitor()
        {
            await Task.Run(() =>
@@ -1172,9 +1271,9 @@
                            return;

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

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

                        //Stopwatch sw = new Stopwatch();
@@ -1188,14 +1287,14 @@
                            MonitorCheckAndInvoke(tempNew, tempOld);
                        }

                        if (AxisStatusList.Count == newAxisMovingStatus.Count)
                        {
                            var tempNew = new List<AxisMovingStatus>(newAxisMovingStatus);//clone
                            var tempOld = new List<AxisMovingStatus>(AxisStatusList);
                            AxisStatusCheck(tempNew, tempOld);
                        }
                        //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);
                        //AxisStatusList = new List<AxisMovingStatus>(newAxisMovingStatus);
                        MonitorValues = new List<IOItem>(newValues);
                        //sw.Stop();