领胜LDS 键盘AOI检测项目
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
xcd
2020-07-09 eff39fab10e5285f0d1196037f3a237a676346d2 
 src/Bro.Device.GTSCard/GTSCardDriver.cs


@@ -51,7 +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


@@ -59,8 +69,8 @@


        protected override void Init()


        {


            InitialMotionCard();


            axisImmediatePauseHandleDict = IConfig.AxisSettings.ToDictionary(a => a.AxisIndex, a => new ManualResetEvent(true));


            axisMoveCancelDict = IConfig.AxisSettings.ToDictionary(a => a.AxisIndex, a => new CancellationTokenSource());


            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 =>


            {


@@ -68,7 +78,6 @@


            });


        }




        ManualResetEvent _pauseHandle = new ManualResetEvent(true);


        protected override void Pause()


        {




@@ -100,7 +109,6 @@


            ResponseMessage responseMessage = new ResponseMessage();


            if (config is MotionCardOperationConfigBase motionCardOperationConfig)


            {


                _pauseHandle.WaitOne();


                foreach (var operationSet in motionCardOperationConfig.OperationCollection)


                {


                    responseMessage = RunOperationSet(operationSet);


@@ -211,7 +219,7 @@


        {


            if (!_isResetting)


            {


                var immediatePauseAxis = IConfig.AxisSettings.Where(u => u.IsImmediatePause).Select(u => u.AxisIndex).ToList();


                var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();




                immediatePauseAxis.ForEach(async axisIndex =>


                {


@@ -229,7 +237,7 @@


        /// </summary>


        public void ResetImmediatePause()


        {


            var immediatePauseAxis = IConfig.AxisSettings.Where(u => u.IsImmediatePause).Select(u => u.AxisIndex).ToList();


            var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();




            immediatePauseAxis.ForEach(axisIndex =>


            {


@@ -251,7 +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);


@@ -259,13 +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());


@@ -273,13 +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());


@@ -291,11 +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;


            });


        }


@@ -304,11 +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;


            });


        }


@@ -323,7 +331,6 @@


            ResponseMessage responseMessage = new ResponseMessage();


            if (opConfig is MotionOperationCollection gtsOperationCollection)


            {


                _pauseHandle.WaitOne();


                List<Task<bool>> taskList = new List<Task<bool>>();


                foreach (var movingOp in gtsOperationCollection.MovingOps)


                {


@@ -371,7 +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(() =>


            {


@@ -707,7 +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(() =>


            {


@@ -871,10 +878,9 @@


        /// <summary>


        /// 读取轴状态


        /// </summary>


        /// <param name="cardNum">板卡号</param>


        /// <param name="axisNum">轴号</param>


        /// <returns></returns>


        public int GetAxisStatus(int axisNum)


        public override int GetAxisStatus(int axisNum)


        {


            lock (moveLock)


            {


@@ -884,6 +890,19 @@


                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


@@ -1073,7 +1092,7 @@


        {


            int axis_sts;


            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)


            {


                axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);


@@ -1107,7 +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();