点位到点位运动 修改

wells.liu

2020-06-29 f83caa46dbaa42467fa92a050f9d1fa268833b2d

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -33,29 +33,6 @@
            }
        }

        static Dictionary<int, object> axisMoveLockDict = new Dictionary<int, object>();

        /// <summary>
        /// 轴运动开始时的检测，true:有冲突 不可继续执行 false：无冲突,可继续执行
        /// </summary>
        public event OnAxisStartToCheckDelegate OnAxisStartToCheckConfliction;
        /// <summary>
        /// 暂停（线程同步事件）
        /// </summary>
        Dictionary<int, ManualResetEvent> axisImmediatePauseHandleDict = new Dictionary<int, ManualResetEvent>();
        Dictionary<int, CancellationTokenSource> axisMoveCancelDict = new Dictionary<int, CancellationTokenSource>();
        /// <summary>
        /// 运行过程中的线程等待
        /// </summary>
        private Dictionary<int, ManualResetEvent> runningEventDic = new Dictionary<int, ManualResetEvent>();
        private Dictionary<int, AutoResetEvent> axisMovingHandleDict = new Dictionary<int, AutoResetEvent>();
        private ConcurrentDictionary<int, int> axisDestination = new ConcurrentDictionary<int, int>();

        private ObservableCollection<int> _commandAxisList = new ObservableCollection<int>();
        public Action<bool> CommandAxisCountChangedAction = null;
        private Dictionary<int, VelocityPara> velIndexDict = new Dictionary<int, VelocityPara>();
        ManualResetEvent _pauseHandle = new ManualResetEvent(true);

        static object moveLock = new object();
        /// <summary>
        /// 是否复位标志
@@ -78,7 +55,6 @@
        {
            InitialMotionCard();
        }


        protected override void Pause()
        {
@@ -128,10 +104,21 @@
        {
            bool resultOK = false;
            var gtsOperationConfig = opConfig as GTSCardOperationConfig;
            List<Task<bool>> taskList = new List<Task<bool>>();
            //TaskFactory factory = new TaskFactory(TaskCreationOptions.LongRunning, TaskContinuationOptions.None);
            // 如果是多个轴的运动 等每个轴运动结束
            foreach (var movingOp in gtsOperationConfig.MovingOps)
            {
                resultOK = SingleAxisMoving(movingOp);
                //var task = factory.StartNew<bool>((op) =>
                //{
                //    return SingleAxisMoving(op as MovingOption);
                //}, movingOp);
                var task = SingleAxisMoving(movingOp);
                taskList.Add(task);
            }
            Task.WaitAll(taskList.ToArray());
            resultOK = taskList.All(u => u.GetAwaiter().GetResult());

            return resultOK;
        }

@@ -165,51 +152,54 @@
        /// 单个轴 点位到点位运动
        /// </summary>
        /// <param name="optionPara">运动参数对象</param>
        public bool SingleAxisMoving(MovingOption optionPara)
        public async Task<bool> SingleAxisMoving(MovingOption optionPara)
        {
            bool isSuccessAndStop = false;
            if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
            return await Task.Run(() =>
            {
                string _position = "";
                string motionType = optionPara.MoveMode == EnumHelper.MotorMoveMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();

                _position = $"{DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff")},{optionPara.AxisIndex},{motionType},{GetPosition(optionPara.AxisIndex).ToString()},{GetPrfPosition(optionPara.AxisIndex).ToString()},{optionPara.Destination},";

                switch (optionPara.MoveMode)
                bool isSuccessAndStop = false;
                if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
                {
                    case MotorMoveMode.Normal:
                        {
                            if (_isResetting)
                    string _position = "";
                    string motionType = optionPara.MoveMode == EnumHelper.MotorMoveMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();

                    _position = $"{DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff")},{optionPara.AxisIndex},{motionType},{GetPosition(optionPara.AxisIndex).ToString()},{GetPrfPosition(optionPara.AxisIndex).ToString()},{optionPara.Destination},";

                    switch (optionPara.MoveMode)
                    {
                        case MotorMoveMode.Normal:
                            {
                                LogAsync(DateTime.Now, "复位中启动运动异常", optionPara.AxisIndex + "启动运动异常");
                                return false;
                            }
                            //设置 运动参数
                            var isSuccess = SetAxisParam(optionPara);
                            if (isSuccess)
                            {
                                if (optionPara.IsAbsolute)
                                if (_isResetting)
                                {
                                    isSuccessAndStop = MoveAbs(optionPara);
                                    LogAsync(DateTime.Now, "复位中启动运动异常", optionPara.AxisIndex + "启动运动异常");
                                    return false;
                                }
                                else
                                //设置 运动参数
                                var isSuccess = SetAxisParam(optionPara);
                                if (isSuccess)
                                {
                                    isSuccessAndStop = MoveRel(optionPara);
                                    if (optionPara.IsAbsolute)
                                    {
                                        isSuccessAndStop = MoveAbs(optionPara);
                                    }
                                    else
                                    {
                                        isSuccessAndStop = MoveRel(optionPara);
                                    }
                                }
                            }
                        }
                        break;
                    case MotorMoveMode.FindOri:
                        {
                            isSuccessAndStop = GoHome(optionPara);
                        }
                        break;
                            break;
                        case MotorMoveMode.FindOri:
                            {
                                isSuccessAndStop = GoHome(optionPara);
                            }
                            break;
                    }
                    _position += $"{GetPosition(optionPara.AxisIndex)},";
                    _position += $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}";
                    LogAsync(DateTime.Now, "", _position);
                }
                _position += $"{GetPosition(optionPara.AxisIndex)},";
                _position += $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}";
                LogAsync(DateTime.Now, "", _position);
            }
            return isSuccessAndStop;
                return isSuccessAndStop;
            });
        }

        /// <summary>