暂停与继续

wells.liu

2020-07-09 c65d55e3235dbdb17b7d13937a39c866f1822437

暂停与继续

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -38,11 +38,16 @@
        bool _isResetting = false;

        /// <summary>
        /// 是否暂停中
        /// </summary>
        bool _isPause = 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>();
        //Dictionary<int, CancellationTokenSource> axisMoveCancelDict = new Dictionary<int, CancellationTokenSource>();

        public void SetResetFlag(bool isReset)
        {
@@ -70,12 +75,12 @@
        {
            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 = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ToDictionary(a => a.AxisIndex, a => new CancellationTokenSource());

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

        protected override void Pause()
@@ -225,9 +230,9 @@
                {
                    axisImmediatePauseHandleDict[axisIndex].Reset();

                    axisMoveCancelDict[axisIndex].Cancel();
                    //axisMoveCancelDict[axisIndex].Cancel();

                    await MoveStop(axisIndex, 0);
                    await MoveStop(axisIndex, 0);//所有轴都暂停
                });
            }
        }
@@ -241,7 +246,7 @@

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

                axisImmediatePauseHandleDict[axisIndex].Set();
            });
@@ -381,14 +386,13 @@
        public override async Task<bool> SingleAxisMoving(MovingOption optionPara)
        {
            return await Task.Run(() =>
            {
            {               
                axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
                bool isSuccessAndStop = false;
                try
                {
                    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();

@@ -670,7 +674,7 @@
                short ret = 0;
                bool isSuccessSetAxisParam = false;
                int timeout = optionPara.MovingTimeout;
                while (CurrentState == DeviceState.DSOpen)
                while (CurrentState == DeviceState.DSOpen&&!_isPause)
                {
                    //设置 运动参数
                    isSuccessSetAxisParam = SetAxisParam(optionPara);
@@ -691,12 +695,12 @@

                bool isStop = false;
                repeatTime = 1000;
                do
                while (!isStop && repeatTime > 0)
                {
                    isStop = IsStop((short)optionPara.AxisIndex);
                    Thread.Sleep(50);
                    repeatTime--;
                } while (!isStop && repeatTime > 0);
                }

                return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
            }
@@ -773,7 +777,7 @@
        {
            try
            {
                GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);
                PositionReset(movingOption.AxisIndex, 1);
                GTSCardAPI.THomePrm thomeprm;
                GTSCardAPI.THomeStatus homests;
                short rtn = GTSCardAPI.GT_GetHomePrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out thomeprm);
@@ -800,7 +804,7 @@
                    if (isStop && homests.error == 0)
                    {
                        Thread.Sleep(200);
                        GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);
                        PositionReset(movingOption.AxisIndex, 1);
                    }
                    repeatTime--;
                } while (!isStop && repeatTime > 0);
@@ -897,10 +901,19 @@
            return rtn == (short)GTSRetCode.GRCRunOK;
        }

        /// <summary>
        /// 位置回零
        /// </summary>
        /// <param name="startAxisIndex"></param>
        /// <param name="count"></param>
        /// <returns></returns>
        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;
            lock (moveLock)
            {
                var rtn = GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)startAxisIndex, (short)count);
                return rtn == (short)GTSRetCode.GRCRunOK;
            }
        }

        #endregion
@@ -1100,8 +1113,8 @@
                {
                    var rst = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisSetting.AxisIndex);
                }
                // 位置请零
                GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, 1, (short)axisSettings.Count);
                // 所有位置请零
                PositionReset(1, axisSettings.Count);
                // 正极限报警
                if ((axis_sts & 0x20) != 0)
                {