点位到点位运动 修改

wells.liu

2020-06-29 f83caa46dbaa42467fa92a050f9d1fa268833b2d

点位到点位运动 修改

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -104,10 +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;
        }

@@ -141,7 +152,9 @@
        /// 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)
        {
            return await Task.Run(() =>
        {
            bool isSuccessAndStop = false;
            if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
@@ -186,6 +199,7 @@
                LogAsync(DateTime.Now, "", _position);
            }
            return isSuccessAndStop;
            });
        }

        /// <summary>