数据查询功能

wells.liu

2020-07-08 ee940e0f7c7f00471976bc151319e2e2baf1062b

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -37,6 +37,13 @@
        /// </summary>
        bool _isResetting = false;

        /// <summary>
        /// 运动轴立即暂停
        /// </summary>
        Dictionary<int, ManualResetEvent> axisImmediatePauseHandleDict = new Dictionary<int, ManualResetEvent>();

        Dictionary<int, CancellationTokenSource> axisMoveCancelDict = new Dictionary<int, CancellationTokenSource>();

        public void SetResetFlag(bool isReset)
        {
            _isResetting = isReset;
@@ -44,7 +51,17 @@

        public override List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
        {
            throw new NotImplementedException();
            List<AxisInfo> axisInfos = new List<AxisInfo>();
            IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ForEach(axisSetting =>
            {
                AxisInfo axisInfo = new AxisInfo();
                axisInfo.AxisName = axisSetting.AxisName;
                var axisMovingStatus = AxisMovingOptionValues.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex);
                axisInfo.AxisLocation = axisMovingStatus == null ? 0 : Convert.ToDouble(axisMovingStatus.CurPosition);

                axisInfos.Add(axisInfo);
            });
            return axisInfos;
        }

        #region DeviceBase
@@ -52,16 +69,23 @@
        protected override void Init()
        {
            InitialMotionCard();
            axisImmediatePauseHandleDict = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ToDictionary(a => a.AxisIndex, a => new ManualResetEvent(true));
            axisMoveCancelDict = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ToDictionary(a => a.AxisIndex, a => new CancellationTokenSource());

            axisMoveCancelDict.Values.ToList().ForEach(c =>
            {
                c = new CancellationTokenSource();
            });
        }

        protected override void Pause()
        {
            throw new NotImplementedException();

        }

        protected override void Resume()
        {
            throw new NotImplementedException();

        }

        protected override void Start()
@@ -83,13 +107,15 @@
        public override ResponseMessage Run(IOperationConfig config)
        {
            ResponseMessage responseMessage = new ResponseMessage();
            var motionCardOperationConfig = config as MotionCardOperationConfigBase;
            foreach (var operationSet in motionCardOperationConfig.OperationCollection)
            if (config is MotionCardOperationConfigBase motionCardOperationConfig)
            {
                responseMessage = RunOperationSet(operationSet);
                if (!responseMessage.Result)
                foreach (var operationSet in motionCardOperationConfig.OperationCollection)
                {
                    return responseMessage;
                    responseMessage = RunOperationSet(operationSet);
                    if (!responseMessage.Result)
                    {
                        return responseMessage;
                    }
                }
            }
            return responseMessage;
@@ -185,6 +211,43 @@
        }
        #endregion

        #region ImmediatePause
        /// <summary>
        /// 启动立即暂停
        /// </summary>
        public void SetImmediatePause()
        {
            if (!_isResetting)
            {
                var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();

                immediatePauseAxis.ForEach(async axisIndex =>
                {
                    axisImmediatePauseHandleDict[axisIndex].Reset();

                    axisMoveCancelDict[axisIndex].Cancel();

                    await MoveStop(axisIndex, 0);
                });
            }
        }

        /// <summary>
        /// 恢复立即暂停
        /// </summary>
        public void ResetImmediatePause()
        {
            var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();

            immediatePauseAxis.ForEach(axisIndex =>
            {
                axisMoveCancelDict[axisIndex] = new CancellationTokenSource();

                axisImmediatePauseHandleDict[axisIndex].Set();
            });
        }
        #endregion

        #region GTSCard

        /// <summary>
@@ -196,7 +259,7 @@
        {
            var res = GTSCardAPI.GT_Open((short)IConfig.CardNum, 0, 1); //打开运动控制器。参数必须为（0,1），不能修改。     
            res += GTSCardAPI.GT_LoadConfig((short)IConfig.CardNum, IConfig.InitialConfigFilePath);
            res += GTSCardAPI.GT_ClrSts(0, 1, 8);
            ClearStatus(1, IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled).Count);
            if (res != (short)GTSRetCode.GRCRunOK)
            {
                throw new Exception("板卡载入配置文件异常，错误码：" + res);
@@ -204,13 +267,13 @@
        }


        public bool AllAxisOn()
        public override bool AllAxisOn()
        {
            List<Task<bool>> taskList = new List<Task<bool>>(); ;
            // 如果是多个轴的运动 等每个轴开启
            IConfig.AxisSettings.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>
            IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ForEach(axisNum =>
            {
                var task = AxisOnAsync((short)IConfig.CardNum, (short)axisNum.AxisIndex);
                var task = AxisOnAsync(axisNum.AxisIndex);
                taskList.Add(task);
            });
            Task.WaitAll(taskList.ToArray());
@@ -218,13 +281,13 @@
            return resultOK;
        }

        public bool AllAxisOff()
        public override bool AllAxisOff()
        {
            List<Task<bool>> taskList = new List<Task<bool>>(); ;
            // 如果是多个轴的运动 等每个轴关闭
            IConfig.AxisSettings.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>
            IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ForEach(axisNum =>
            {
                var task = AxisOffAsync((short)IConfig.CardNum, (short)axisNum.AxisIndex);
                var task = AxisOffAsync(axisNum.AxisIndex);
                taskList.Add(task);
            });
            Task.WaitAll(taskList.ToArray());
@@ -236,11 +299,11 @@
        /// 单个轴开启
        /// </summary>
        /// <returns></returns>
        public async Task<bool> AxisOnAsync(short cardNum, short axisNum)
        public override async Task<bool> AxisOnAsync(int axisNum)
        {
            return await Task.Run(() =>
            {
                var ret = GTSCardAPI.GT_AxisOn(cardNum, axisNum);
                var ret = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisNum);
                return ret == (short)GTSRetCode.GRCRunOK;
            });
        }
@@ -249,11 +312,11 @@
        /// 单个轴关闭
        /// </summary>
        /// <returns></returns>
        public async Task<bool> AxisOffAsync(short cardNum, short axisNum)
        public override async Task<bool> AxisOffAsync(int axisNum)
        {
            return await Task.Run(() =>
            {
                var ret = GTSCardAPI.GT_AxisOff(cardNum, axisNum);
                var ret = GTSCardAPI.GT_AxisOff((short)IConfig.CardNum, (short)axisNum);
                return ret == (short)GTSRetCode.GRCRunOK;
            });
        }
@@ -266,19 +329,21 @@
        public override ResponseMessage MoveToPoint(IOperationConfig opConfig)
        {
            ResponseMessage responseMessage = new ResponseMessage();
            var gtsOperationCollection = opConfig as MotionOperationCollection;
            List<Task<bool>> taskList = new List<Task<bool>>();
            foreach (var movingOp in gtsOperationCollection.MovingOps)
            if (opConfig is MotionOperationCollection gtsOperationCollection)
            {
                var task = SingleAxisMoving(movingOp);
                taskList.Add(task);
            }
                List<Task<bool>> taskList = new List<Task<bool>>();
                foreach (var movingOp in gtsOperationCollection.MovingOps)
                {
                    var task = SingleAxisMoving(movingOp);
                    taskList.Add(task);
                }

            Task.WaitAll(taskList.ToArray());
            responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
            if (!responseMessage.Result)
            {
                responseMessage.Message = $"点位运动异常";
                Task.WaitAll(taskList.ToArray());
                responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
                if (!responseMessage.Result)
                {
                    responseMessage.Message = $"点位运动异常";
                }
            }
            return responseMessage;
        }
@@ -313,7 +378,7 @@
        /// 单个轴 运动(点到点 jog 回零...）
        /// </summary>
        /// <param name="optionPara">运动参数对象</param>
        public async Task<bool> SingleAxisMoving(MovingOption optionPara)
        public override async Task<bool> SingleAxisMoving(MovingOption optionPara)
        {
            return await Task.Run(() =>
            {
@@ -322,6 +387,8 @@
                {
                    if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
                    {
                        axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();

                        string _position = "";
                        string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();

@@ -413,6 +480,41 @@
        }

        /// <summary>
        /// 获取规划速度
        /// </summary>
        /// <param name="axisNum">Axis number</param>
        /// <returns></returns>
        public double GetPrfVelocity(int axisNum)
        {
            double prfVel = 0;
            uint pclock = 0;
            var ret = GTSCardAPI.GT_GetPrfVel((short)IConfig.CardNum, (short)axisNum, out prfVel, 1, out pclock);
            if (ret != (short)GTSRetCode.GRCRunOK)
            {
                throw new Exception("轴" + axisNum + "获取规划速度异常，错误码：" + ret);
            }
            prfVel = prfVel / IConfig.AxisVelocityRatio;
            return prfVel;
        }

        /// <summary>
        /// 获取当前速度
        /// </summary>
        /// <param name="axisNum">Axis number</param>
        /// <returns></returns>
        public double GetVelocity(int axisNum)
        {
            double vel = 0;
            var ret = GTSCardAPI.GT_GetVel((short)IConfig.CardNum, (short)axisNum, out vel);
            if (ret != (short)GTSRetCode.GRCRunOK)
            {
                throw new Exception("轴" + axisNum + "获取当前速度异常，错误码：" + ret);
            }
            vel = vel / IConfig.AxisVelocityRatio;
            return vel;
        }

        /// <summary>
        /// Set Single Axis Do Jog Move  
        /// </summary>
        /// <param name="axisNum">AxisNo</param>
@@ -437,7 +539,7 @@

                    if (ret != (short)GTSRetCode.GRCRunOK)
                    {
                        LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "APS_absolute_move异常", "错误码：" + ret + ";" + "重试次数：" + repeatTime);
                        LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "JogMove异常", "错误码：" + ret + ";" + "重试次数：" + repeatTime);
                        Thread.Sleep(10);
                    }
                    repeatTime--;
@@ -450,29 +552,6 @@
                OnExceptionRaised?.Invoke(ex);
                return false;
            }

        }

        /// <summary>
        /// Set Single Axis Do stop Jog Move  
        /// </summary>
        /// <param name="axisNum">AxisNo</param>
        /// <returns></returns>
        public bool StopJog(int axisNum)
        {
            //停止运动
            MoveStop(axisNum, 0);
            //运动开始后 检查运动是否停止
            bool isStop = false;
            int repeatTime = 1000;
            do
            {
                isStop = IsStop((short)IConfig.CardNum, (short)axisNum);
                Thread.Sleep(50);
                repeatTime--;
            } while (!isStop && repeatTime > 0);

            return isStop;
        }

        /// <summary>
@@ -540,7 +619,7 @@
                repeatTime = 1000;
                do
                {
                    isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
                    isStop = IsStop((short)optionPara.AxisIndex);
                    Thread.Sleep(50);
                    repeatTime--;
                } while (!isStop && repeatTime > 0);
@@ -563,6 +642,8 @@
        {
            try
            {
                axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();

                if (_isResetting)
                {
                    LogAsync(DateTime.Now, "复位过程异常", "轴" + optionPara.AxisIndex + "试图在复位过程中运动");
@@ -612,7 +693,7 @@
                repeatTime = 1000;
                do
                {
                    isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
                    isStop = IsStop((short)optionPara.AxisIndex);
                    Thread.Sleep(50);
                    repeatTime--;
                } while (!isStop && repeatTime > 0);
@@ -633,7 +714,7 @@
        /// <param name="axisNum">axisNo</param>
        /// <param name="option">0表示平滑停止，1表示紧急停止</param>
        /// <returns></returns>
        public async Task<bool> MoveStop(int axisNum, int option)
        public override async Task<bool> MoveStop(int axisNum, int option)
        {
            return await Task.Run(() =>
            {
@@ -655,7 +736,7 @@
                int repeatTime = 100;
                do
                {
                    isStop = IsStop((short)IConfig.CardNum, (short)axisNum);
                    isStop = IsStop((short)axisNum);
                    Thread.Sleep(10);
                    repeatTime--;
                } while (!isStop && repeatTime > 0);
@@ -787,23 +868,65 @@
        /// <param name="cardNum">板卡号</param>
        /// <param name="axisNum">轴号</param>
        /// <returns></returns>
        public bool IsStop(short cardNum, short axisNum)
        public bool IsStop(short axisNum)
        {
            int sts = GetAxisStatus(axisNum);
            if ((sts & 0x400) == 0) return true;//停止返回true
            else return false;              //运行中返回false
        }

        /// <summary>
        /// 读取轴状态
        /// </summary>
        /// <param name="axisNum">轴号</param>
        /// <returns></returns>
        public override int GetAxisStatus(int axisNum)
        {
            lock (moveLock)
            {
                int sts = 0;
                uint pclock = 0;
                GTSCardAPI.GT_GetSts(cardNum, axisNum, out sts, 1, out pclock);
                if ((sts & 0x400) == 0) return true;//停止返回true
                else return false;              //运行中返回false
                GTSCardAPI.GT_GetSts((short)IConfig.CardNum, (short)axisNum, out sts, 1, out pclock);
                return sts;
            }
        }

        public override bool ClearStatus(int startAxisIndex, int count)
        {
            var rtn = GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, (short)startAxisIndex, (short)count);
            return rtn == (short)GTSRetCode.GRCRunOK;
        }

        public override bool PositionReset(int startAxisIndex, int count)
        {
            var rtn = GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)startAxisIndex, (short)count);
            return rtn == (short)GTSRetCode.GRCRunOK;
        }

        #endregion

        #region IMonitor

        //public List<IOItem> MonitorValues { get; set; } = new List<IOItem>();
        public List<AxisMovingStatus> GetAxisMovingStatus()
        {
            List<AxisMovingStatus> axisMovingStatusesList = new List<AxisMovingStatus>();
            foreach (var axisConfig in IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled))
            {
                AxisMovingStatus axisMovingStatus = new AxisMovingStatus();
                axisMovingStatus.AxisIndex = axisConfig.AxisIndex;
                axisMovingStatus.AxisName = axisConfig.AxisName;
                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.AxisStatus = GetAxisStatus(axisMovingStatus.AxisIndex);

                axisMovingStatusesList.Add(axisMovingStatus);

            }

            return axisMovingStatusesList;
        }


        public List<IOItem> GetMonitorValues()
@@ -849,7 +972,8 @@
                        if (!IConfig.IsEnableMonitor)
                            return;
                        var newValues = GetMonitorValues();
                        if (newValues == null || newValues.Count == 0)
                        var newAxisMovingStatus = GetAxisMovingStatus();
                        if (newValues == null || newValues.Count == 0 || newAxisMovingStatus == null || newAxisMovingStatus.Count == 0)
                            continue;

                        Stopwatch sw = new Stopwatch();
@@ -860,6 +984,8 @@
                            var tempOld = MonitorValues.DeepSerializeClone();
                            MonitorCheckAndInvoke(tempNew, tempOld);
                        }

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

@@ -965,12 +1091,11 @@
        public override void ResetAlarm()
        {
            int axis_sts;
            uint clk;
            var axisSettings = IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled);
            GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, 1, (short)axisSettings.Count);
            ClearStatus(1, axisSettings.Count);
            foreach (var axisSetting in axisSettings)
            {
                GTSCardAPI.GT_GetSts((short)IConfig.CardNum, (short)axisSetting.AxisIndex, out axis_sts, 1, out clk);
                axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
                if ((axis_sts & 0x200) == 0)
                {
                    var rst = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisSetting.AxisIndex);
@@ -1001,7 +1126,7 @@
            }

            // 清除状态
            GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, 1, (short)IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled).Count);
            ClearStatus(1, axisSettings.Count);
        }

        object _alarmLock = new object();