From 01d2cf934b9c976ce24f28b83f8b6aa68dac921c Mon Sep 17 00:00:00 2001
From: wells.liu <wells.liu@broconcentric.com>
Date: 星期一, 06 七月 2020 10:17:04 +0800
Subject: [PATCH] 板卡界面
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 271 ++++++++++++++++++++++++++++++++++++++---------------
1 files changed, 193 insertions(+), 78 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index b9bc5de..3d06c3f 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -23,7 +23,7 @@
// 寮傚父浜嬩欢
public Action<Exception> OnExceptionRaised;
- public GTSCardInitialConfig IConfig
+ public GTSCardInitialConfig IIConfig
{
get
{
@@ -75,9 +75,113 @@
AllAxisOff();
}
+ /// <summary>
+ /// 璁惧 杩愯锛堟墽琛� 鏉垮崱绯诲垪鐨勬搷浣滅殑 闆嗗悎锛�
+ /// </summary>
+ /// <param name="config"></param>
+ /// <returns></returns>
public override ResponseMessage Run(IOperationConfig config)
{
- throw new NotImplementedException();
+ ResponseMessage responseMessage = new ResponseMessage();
+ var motionCardOperationConfig = config as MotionCardOperationConfigBase;
+ foreach (var operationSet in motionCardOperationConfig.OperationCollection)
+ {
+ responseMessage = RunOperationSet(operationSet);
+ if (!responseMessage.Result)
+ {
+ return responseMessage;
+ }
+ }
+ return responseMessage;
+ }
+
+ /// <summary>
+ /// 鎵ц 涓�涓郴鍒楃殑鎿嶄綔
+ /// </summary>
+ private ResponseMessage RunOperationSet(MotionCardOperationSet operationSet)
+ {
+ ResponseMessage responseMessage = new ResponseMessage();
+ // 1.棰勬鏌�
+ if (CurrentState == DeviceState.DSOpen)
+ {
+ foreach (var preCheck in operationSet.PreCheckIOCollection)
+ {
+ int timeout = operationSet.PreCheckIOTimeout;
+ IOValue? ioData = null;
+ while (CurrentState == DeviceState.DSOpen)
+ {
+ Thread.Sleep(10);
+ ioData = MonitorValues.FirstOrDefault(u => u.IONum == preCheck.IOItem.IONum && u.IOType == preCheck.IOItem.IOType)?.Value;//IO 鏄紑銆佸叧 浠嶮onitorValues 鑾峰彇
+ timeout -= 10;
+ if (preCheck.CheckValue == ioData || (operationSet.PreCheckIOTimeout > 0 && timeout < 0))
+ {
+ break;
+ }
+ }
+
+ if (preCheck.CheckValue != ioData)
+ {
+ responseMessage.Result = false;
+ responseMessage.Message = $"棰勬鏌ヤ笉閫氳繃锛岄厤缃細{preCheck.GetDisplayText()}锛屽綋鍓嶅�硷細{ioData}";
+ return responseMessage;
+ }
+ }
+ }
+
+ // 2.鏉垮崱杩愬姩
+ if (CurrentState == DeviceState.DSOpen)
+ {
+ responseMessage = MoveToPoint(operationSet.MotionOperationCollection);
+ if (!responseMessage.Result)
+ {
+ return responseMessage;
+ }
+ }
+
+
+ // 3.IO杈撳嚭 涓嶉渶瑕佽秴鏃�
+ if (CurrentState == DeviceState.DSOpen)
+ {
+ foreach (var ioOutput in operationSet.IOOutputCollection)
+ {
+ var ioData = MonitorValues.FirstOrDefault(u => u.IONum == ioOutput.IOItem.IONum && u.IOType == ioOutput.IOItem.IOType)?.Value;//IO 鏄紑銆佸叧 浠嶮onitorValues 鑾峰彇
+ if (ioOutput.CheckValue != ioData)
+ {
+ responseMessage.Result = false;
+ responseMessage.Message = $"IO杈撳嚭涓嶉�氳繃锛岄厤缃細{ioOutput.GetDisplayText()}锛屽綋鍓嶅�硷細{ioData}";
+ return responseMessage;
+ }
+ }
+ }
+
+ // 4.IO纭
+ if (CurrentState == DeviceState.DSOpen)
+ {
+ foreach (var ioConfirm in operationSet.IOConfirmCollection)
+ {
+ int timeout = operationSet.IOConfirmTimeout;
+ IOValue? ioData = null;
+ while (CurrentState == DeviceState.DSOpen)
+ {
+ Thread.Sleep(10);
+ ioData = MonitorValues.FirstOrDefault(u => u.IONum == ioConfirm.IOItem.IONum && u.IOType == ioConfirm.IOItem.IOType)?.Value;//IO 鏄紑銆佸叧 浠嶮onitorValues 鑾峰彇
+ timeout -= 10;
+ if (ioConfirm.CheckValue == ioData || (operationSet.IOConfirmTimeout > 0 && timeout < 0))
+ {
+ break;
+ }
+ }
+
+ if (ioConfirm.CheckValue != ioData)
+ {
+ responseMessage.Result = false;
+ responseMessage.Message = $"IO纭涓嶉�氳繃锛岄厤缃細{ioConfirm.GetDisplayText()}锛屽綋鍓嶅�硷細{ioData}";
+ return responseMessage;
+ }
+ }
+ }
+
+ return responseMessage;
}
#endregion
@@ -161,25 +265,22 @@
/// <returns>杩愬姩鎺у埗+鍋滄鍒ゆ柇</returns>
public override ResponseMessage MoveToPoint(IOperationConfig opConfig)
{
- bool resultOK = false;
- var gtsOperationConfig = opConfig as GTSCardOperationConfig;
+ ResponseMessage responseMessage = new ResponseMessage();
+ var gtsOperationCollection = opConfig as MotionOperationCollection;
List<Task<bool>> taskList = new List<Task<bool>>();
- //TaskFactory factory = new TaskFactory(TaskCreationOptions.LongRunning, TaskContinuationOptions.None);
- // 濡傛灉鏄涓酱鐨勮繍鍔� 绛夋瘡涓酱杩愬姩缁撴潫
- foreach (var movingOp in gtsOperationConfig.MovingOps)
+ foreach (var movingOp in gtsOperationCollection.MovingOps)
{
- //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;
- throw new NotImplementedException();
+ Task.WaitAll(taskList.ToArray());
+ responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
+ if (!responseMessage.Result)
+ {
+ responseMessage.Message = $"鐐逛綅杩愬姩寮傚父";
+ }
+ return responseMessage;
}
/// <summary>
@@ -217,48 +318,56 @@
return await Task.Run(() =>
{
bool isSuccessAndStop = false;
- if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
+ try
{
- 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)
+ if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
{
- case MotorMoveMode.Normal:
- {
- if (_isResetting)
- {
- LogAsync(DateTime.Now, "澶嶄綅涓惎鍔ㄨ繍鍔ㄥ紓甯�", optionPara.AxisIndex + "鍚姩杩愬姩寮傚父");
- return false;
- }
+ string _position = "";
+ string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();
- if (optionPara.IsAbsolute)
- {
- isSuccessAndStop = P2PMoveAbs(optionPara);
- }
- else
- {
- isSuccessAndStop = P2PMoveRel(optionPara);
- }
+ _position = $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff},{optionPara.AxisIndex},{motionType},{GetPosition(optionPara.AxisIndex)},{GetPrfPosition(optionPara.AxisIndex)},{optionPara.Destination},";
- }
- break;
- case MotorMoveMode.FindOri:
- {
- isSuccessAndStop = GoHome(optionPara);
- }
- break;
- case MotorMoveMode.Jog:
- {
- isSuccessAndStop = JogMove(optionPara);
- }
- break;
+ switch (optionPara.MoveMode)
+ {
+ case MotionMode.Normal:
+ {
+ if (_isResetting)
+ {
+ LogAsync(DateTime.Now, "澶嶄綅涓惎鍔ㄨ繍鍔ㄥ紓甯�", optionPara.AxisIndex + "鍚姩杩愬姩寮傚父");
+ return false;
+ }
+
+ if (optionPara.IsAbsolute)
+ {
+ isSuccessAndStop = P2PMoveAbs(optionPara);
+ }
+ else
+ {
+ isSuccessAndStop = P2PMoveRel(optionPara);
+ }
+
+ }
+ break;
+ case MotionMode.FindOri:
+ {
+ isSuccessAndStop = GoHome(optionPara);
+ }
+ break;
+ case MotionMode.Jog:
+ {
+ isSuccessAndStop = JogMove(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);
+ }
+ catch (Exception ex)
+ {
+ isSuccessAndStop = false;
+ LogAsync(DateTime.Now, $"杞磠optionPara.AxisIndex}杩愬姩寮傚父", ex.GetExceptionMessage());
}
return isSuccessAndStop;
});
@@ -329,7 +438,7 @@
if (ret != (short)GTSRetCode.GRCRunOK)
{
LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "APS_absolute_move寮傚父", "閿欒鐮侊細" + ret + ";" + "閲嶈瘯娆℃暟锛�" + repeatTime);
- Thread.Sleep(50);
+ Thread.Sleep(10);
}
repeatTime--;
} while (ret != (short)GTSRetCode.GRCRunOK && repeatTime > 0);
@@ -403,11 +512,11 @@
LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "寮�濮嬭繍鍔�", "鐩爣鍧愭爣锛�" + optionPara.Destination);
short ret = 0;
- repeatTime = 100;
bool isSuccessSetAxisParam = false;
int currentPosition = (int)GetPosition(optionPara.AxisIndex);
int dPosition = optionPara.Destination + currentPosition;
- do
+ int timeout = optionPara.MovingTimeout;
+ while (CurrentState == DeviceState.DSOpen)
{
//璁剧疆 杩愬姩鍙傛暟
isSuccessSetAxisParam = SetAxisParam(optionPara);
@@ -419,8 +528,12 @@
LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "APS_absolute_move寮傚父", "閿欒鐮侊細" + ret + ";" + "閲嶈瘯娆℃暟锛�" + repeatTime);
Thread.Sleep(50);
}
- repeatTime--;
- } while (ret != (short)GTSRetCode.GRCRunOK && !isSuccessSetAxisParam && repeatTime > 0);
+ timeout -= 50;
+ if ((ret == (short)GTSRetCode.GRCRunOK && isSuccessSetAxisParam) || (optionPara.MovingTimeout > 0 && timeout < 0))
+ {
+ break;
+ }
+ }
//杩愬姩寮�濮嬪悗 妫�鏌ヨ繍鍔ㄦ槸鍚﹀仠姝�
bool isStop = false;
@@ -474,9 +587,9 @@
}
LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "寮�濮嬭繍鍔�", "鐩爣鍧愭爣锛�" + optionPara.Destination);
short ret = 0;
- repeatTime = 100;
bool isSuccessSetAxisParam = false;
- do
+ int timeout = optionPara.MovingTimeout;
+ while (CurrentState == DeviceState.DSOpen)
{
//璁剧疆 杩愬姩鍙傛暟
isSuccessSetAxisParam = SetAxisParam(optionPara);
@@ -488,8 +601,12 @@
LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "APS_absolute_move寮傚父", "閿欒鐮侊細" + ret + ";" + "閲嶈瘯娆℃暟锛�" + repeatTime);
Thread.Sleep(50);
}
- repeatTime--;
- } while (ret != (short)GTSRetCode.GRCRunOK && !isSuccessSetAxisParam && repeatTime > 0);
+ timeout -= 50;
+ if ((ret == (short)GTSRetCode.GRCRunOK && isSuccessSetAxisParam) || (optionPara.MovingTimeout > 0 && timeout < 0))
+ {
+ break;
+ }
+ }
bool isStop = false;
repeatTime = 1000;
@@ -634,14 +751,13 @@
/// <summary>
/// 璇诲彇IO杈撳嚭
/// </summary>
- /// <param name="cardNum"></param>
- /// <param name="index"></param>
+ /// <param name="index">io绱㈠紩</param>
/// <returns></returns>
- public bool GetDoSts(short cardNum, short index)
+ public bool GetDoSts(short index)
{
int outSts;
short outNum = (short)(index % 100);
- GTSCardAPI.GT_GetDo(cardNum, GTSCardAPI.MC_GPO, out outSts);
+ GTSCardAPI.GT_GetDo((short)IConfig.CardNum, GTSCardAPI.MC_GPO, out outSts);
if ((outSts & (1 << outNum)) == 0) return true;
else return false;
}
@@ -649,19 +765,19 @@
/// <summary>
/// 鎸変綅璁剧疆鏁板瓧 IO 杈撳嚭鐘舵��
/// </summary>
- /// <param name="cardNum">鍗″彿</param>
/// <param name="index">杈撳嚭鍙�,杩斿洖1-16</param>
/// <param name="value">false琛ㄧず杈撳嚭锛宼rue琛ㄧず鍏抽棴</param>
- public void WriteOut(short cardNum, short index, bool value)
+ public override void WriteOutput(short cardNum, short index, IOValue value)
{
short outNum = (short)(index % 100 + 1);
- if (value)
+ if ((int)value <= 1)
{
- GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 0);
+ GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, (short)value);
}
else
{
- GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 1);
+ var currentValue = (int)MonitorValues.FirstOrDefault(u => u.IONum == outNum && u.IOType == IOType.OUTPUT).Value;
+ GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, (short)(currentValue == 1 ? 0 : 1));
}
}
@@ -687,7 +803,7 @@
#region IMonitor
- public List<IOItem> MonitorValues { get; set; } = new List<IOItem>();
+ //public List<IOItem> MonitorValues { get; set; } = new List<IOItem>();
public List<IOItem> GetMonitorValues()
@@ -706,13 +822,13 @@
IOItem inItem = new IOItem()
{
IONum = index,
- Value = (inValue & (1 << index)) == 0 ? 1 : 0,
+ Value = (inValue & (1 << index)) == 0 ? IOValue.TRUE : IOValue.FALSE,
IOType = IOType.INPUT
};
IOItem outItem = new IOItem()
{
IONum = index,
- Value = (outValue & (1 << index)) == 0 ? 1 : 0,
+ Value = (outValue & (1 << index)) == 0 ? IOValue.TRUE : IOValue.FALSE,
IOType = IOType.OUTPUT
};
result.Add(inItem);
@@ -769,7 +885,7 @@
});
}
- private void OnMethodInvoked(IAsyncResult ar)
+ public override void OnMethodInvoked(IAsyncResult ar)
{
MotionCardMonitorSet monitorSet = ar.AsyncState as MotionCardMonitorSet;
ProcessResponse resValues = monitorSet.Response;
@@ -801,13 +917,12 @@
{
MotionCardWarningSet warningSet = wSet as MotionCardWarningSet;
- bool isOn = ((tempNew.FirstOrDefault(u => u.IONum == warningSet.TriggerIndex && u.IOType == warningSet.WarningIOModel)?.Value >> warningSet.TriggerIndex) & 1) == (warningSet.TriggerValue ? 1 : 0);
+ bool isOn = (((int)((tempNew.FirstOrDefault(u => u.IONum == warningSet.TriggerIndex && u.IOType == warningSet.WarningIOModel)?.Value)) >> warningSet.TriggerIndex) & 1) == (warningSet.TriggerValue ? 1 : 0);
if (warningSet.CurrentStatus != isOn)
{
warningSet.CurrentStatus = isOn;
warningSet.TriggerTime = DateTime.Now;
- warningSet.WarningDescription = $"璀︽姤锛歿warningSet.Name}-瑙﹀彂绱㈠紩锛歿warningSet.TriggerIndex}-{warningSet.WarningIOModel.GetEnumDescription()}:{warningSet.WarningCode}";
SaveAlarmCSVAsync(DateTime.Now, this.Name, warningSet);
ExcuteMonitorAlarm(DateTime.Now, this, warningSet);
}
@@ -828,7 +943,7 @@
if (newIOItem?.Value != oldIOItem?.Value)
{
- if (monitorSet.TriggerValue == -999 || newIOItem.Value == monitorSet.TriggerValue)
+ if (monitorSet.TriggerValue == -999 || (int)newIOItem.Value == monitorSet.TriggerValue)
{
if (monitorSet.OpConfig == null)
{
@@ -840,7 +955,7 @@
// return tempNew[index].Value;
//}).ToList();
- ExcuteMonitorInvok(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet);
+ ExcuteMonitorInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet);
}
}
});
--
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