板卡操作界面功能

wells.liu

2020-07-07 eb57feeff1d274dcd1a9bc767981d37d4837f959

板卡操作界面功能

 src/Bro.Common.Device/DeviceBase/MotionCardBase.cs

@@ -26,6 +26,50 @@
        public abstract ResponseMessage MoveToPoint(IOperationConfig opConfig);
        public abstract void ResetAlarm();
        public abstract ResponseMessage Run(IOperationConfig config);
        /// <summary>
        /// 清除状态
        /// </summary>
        /// <param name="startAxisIndex">起始轴号</param>
        /// <param name="count">数量</param>
        /// <returns></returns>
        public abstract bool ClearStatus(int startAxisIndex, int count);

        /// <summary>
        /// 读取轴状态
        /// </summary>
        /// <param name="axisNum">轴号</param>
        /// <returns></returns>
        public abstract int GetAxisStatus(int axisNum);

        /// <summary>
        /// 位置清零
        /// </summary>
        /// <param name="startAxisIndex">起始轴号</param>
        /// <param name="count">数量</param>
        /// <returns></returns>
        public abstract bool PositionReset(int startAxisIndex, int count);

        public abstract bool AllAxisOn();

        public abstract bool AllAxisOff();

        public abstract Task<bool> AxisOnAsync(int axisNum);

        public abstract Task<bool> AxisOffAsync(int axisNum);

        /// <summary>
        /// 单个轴 运动(点到点 jog 回零...）
        /// </summary>
        /// <param name="optionPara">运动参数对象</param>
        public abstract Task<bool> SingleAxisMoving(MovingOption optionPara);

        /// <summary>
        /// 某个轴运动停止
        /// </summary>
        /// <param name="axisNum">轴号</param>
        /// <param name="option">0表示平滑停止，1表示紧急停止</param>
        /// <returns></returns>
        public abstract Task<bool> MoveStop(int axisNum, int option);

        public virtual void ExcuteMonitorInvoke(DateTime dateTime, string invokeDevice, IDevice device, IMonitorSet monitorSet)
        {
@@ -57,7 +101,7 @@
        /// </summary>
        public List<AxisMovingStatus> AxisMovingOptionValues { get; set; } = new List<AxisMovingStatus>();

        public abstract void WriteOutput(short index, IOValue value);     
        public abstract void WriteOutput(short index, IOValue value);
    }

    public class MotionCardInitialConfigBase : InitialConfigBase, IMonitorConfig
@@ -156,7 +200,7 @@
    }

    [Device("MotionOperationSet", "运动操作配置基类", EnumHelper.DeviceAttributeType.OperationConfig)]
    public class MotionCardOperationSet :  IComplexDisplay
    public class MotionCardOperationSet : IComplexDisplay
    {
        [Category("IO操作配置")]
        [DisplayName("IO预检查定义集合")]
@@ -196,7 +240,7 @@
        [DisplayName("运动配置集合")]
        [Description("MovingOps：运动配置集合")]
        [TypeConverter(typeof(ComplexObjectConvert))]
        [Editor(typeof(PropertyObjectEditor),typeof(UITypeEditor))]
        [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
        public MotionOperationCollection MotionOperationCollection { get; set; } = new MotionOperationCollection();



 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();

 src/Bro.UI.Device.Winform/MotionCard/FrmMotionCardOperationBase.cs

@@ -17,7 +17,7 @@

        public IDevice Device { get; set; }

        public MotionCardOperationConfigBase MotionCardOperationConfig { get; set; }
        public MovingOption MotionCardMovingOption { get; set; } = new MovingOption();

        /// <summary>
        /// 当前板卡实例
@@ -44,36 +44,48 @@
                flowLayoutPanel1.Controls.Add(axisOperation);

            }

            propGrid.SelectedObject = MotionCardMovingOption;
        }

        private void buttonClearStatus_Click(object sender, EventArgs e)
        {

            MotionCard.ClearStatus(1, MotionCard.IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled).Count);
        }

        private void buttonServoEnable_Click(object sender, EventArgs e)
        {

            int sts = MotionCard.GetAxisStatus(MotionCardMovingOption.AxisIndex);
            if ((sts & 0x200) == 0)//关闭状态
            {
                MotionCard.AxisOnAsync(MotionCardMovingOption.AxisIndex).GetAwaiter().GetResult();
                buttonServoEnable.Text = "伺服已开启";
            }
            else
            {
                MotionCard.AxisOffAsync(MotionCardMovingOption.AxisIndex).GetAwaiter().GetResult();
                buttonServoEnable.Text = "伺服已关闭";
            }
        }

        private void buttonPositionReset_Click(object sender, EventArgs e)
        {

            var res = MotionCard.PositionReset(MotionCardMovingOption.AxisIndex, 1);
        }

        private void btnStart_Click(object sender, EventArgs e)
        {

            MotionCard.SingleAxisMoving(MotionCardMovingOption).GetAwaiter().GetResult();
        }

        private void buttonSmoothStop_Click(object sender, EventArgs e)
        {

            MotionCard.MoveStop(MotionCardMovingOption.AxisIndex, 0).GetAwaiter().GetResult();
        }

        private void buttonEmergencyStop_Click(object sender, EventArgs e)
        {

            MotionCard.MoveStop(MotionCardMovingOption.AxisIndex, 1).GetAwaiter().GetResult();
        }

    }