From 0e0908cbbc6354b4df435bf0837e540609ec0118 Mon Sep 17 00:00:00 2001
From: xcd <834800634@qq.com>
Date: 星期六, 04 七月 2020 17:58:39 +0800
Subject: [PATCH] Merge branch 'master' of http://gitblit.broconcentric.com:8088/r/M071
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 250 ++++++++++++++++++++++--------
src/Bro.Common.Model/Helper/StaticHelper.cs | 18 ++
src/Bro.Common.Device/DeviceBase/MotionCardBase.cs | 51 ++++--
src/Bro.Common.Model/Model/MotionCardRelated.cs | 103 ++++++------
4 files changed, 288 insertions(+), 134 deletions(-)
diff --git a/src/Bro.Common.Device/DeviceBase/MotionCardBase.cs b/src/Bro.Common.Device/DeviceBase/MotionCardBase.cs
index 1a997ae..1cd328f 100644
--- a/src/Bro.Common.Device/DeviceBase/MotionCardBase.cs
+++ b/src/Bro.Common.Device/DeviceBase/MotionCardBase.cs
@@ -147,7 +147,8 @@
}
}
- public class MotionCardOperationSet : IComplexDisplay
+ [Device("MotionOperationSet", "杩愬姩鎿嶄綔閰嶇疆鍩虹被", EnumHelper.DeviceAttributeType.OperationConfig)]
+ public class MotionCardOperationSet : IComplexDisplay
{
[Category("IO鎿嶄綔閰嶇疆")]
[DisplayName("IO棰勬鏌ュ畾涔夐泦鍚�")]
@@ -177,16 +178,19 @@
[DisplayName("IO纭瓒呮椂")]
public int IOConfirmTimeout { get; set; } = 0;
+ //[Category("鏉垮崱杩愬姩閰嶇疆")]
+ //[DisplayName("杩愬姩閰嶇疆闆嗗悎")]
+ //[Description("MovingOps锛氳繍鍔ㄩ厤缃泦鍚�")]
+ //[TypeConverter(typeof(CollectionCountConvert))]
+ //[Editor(typeof(ComplexCollectionEditor<MovingOption>), typeof(UITypeEditor))]
+ //public List<MovingOption> MovingOps { get; set; } = new List<MovingOption>();
[Category("鏉垮崱杩愬姩閰嶇疆")]
[DisplayName("杩愬姩閰嶇疆闆嗗悎")]
[Description("MovingOps锛氳繍鍔ㄩ厤缃泦鍚�")]
- [TypeConverter(typeof(CollectionCountConvert))]
- [Editor(typeof(ComplexCollectionEditor<MovingOption>), typeof(UITypeEditor))]
- public List<MovingOption> MovingOps { get; set; } = new List<MovingOption>();
- [Category("鏉垮崱杩愬姩閰嶇疆")]
- [Description("瓒呮椂璁剧疆锛屽崟浣嶏細ms")]
- [DisplayName("杩愬姩瓒呮椂")]
- public int MovingTimeout { get; set; } = 0;
+ [TypeConverter(typeof(ComplexObjectConvert))]
+ [Editor(typeof(PropertyObjectEditor),typeof(UITypeEditor))]
+ public MotionOperationCollection MotionOperationCollection { get; set; } = new MotionOperationCollection();
+
public string GetDisplayText()
{
@@ -220,19 +224,34 @@
}
string moving = "";
- MovingOps.ForEach(i =>
- {
- moving += i.GetDisplayText() + " ";
- });
- if (moving != "")
- {
- moving = " 杩愬姩锛�" + moving;
- }
+ //MovingOps.ForEach(i =>
+ //{
+ // moving += i.GetDisplayText() + " ";
+ //});
+ //if (moving != "")
+ //{
+ // moving = " 杩愬姩锛�" + moving;
+ //}
return (preCheck + output + confirm + moving).Trim();
}
}
+ public class MotionOperationCollection : OperationConfigBase, IComplexDisplay
+ {
+ [Category("杩愬姩閰嶇疆")]
+ [DisplayName("杩愬姩閰嶇疆闆嗗悎")]
+ [Description("MovingOps锛氳繍鍔ㄩ厤缃泦鍚�")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor<MovingOption>), typeof(UITypeEditor))]
+ public List<MovingOption> MovingOps { get; set; } = new List<MovingOption>();
+
+ public string GetDisplayText()
+ {
+ return $"{string.Join(" ", MovingOps.Select(u => u.GetDisplayText()))}";
+ }
+ }
+
//[Device("MotionCardOperationConfigCollection", "鏉垮崱鎿嶄綔閰嶇疆鍩虹被闆嗗悎", EnumHelper.DeviceAttributeType.OperationConfig)]
//public class MotionCardOperationConfigCollection : OperationConfigBase
//{
diff --git a/src/Bro.Common.Model/Helper/StaticHelper.cs b/src/Bro.Common.Model/Helper/StaticHelper.cs
index 47bb257..0c5de62 100644
--- a/src/Bro.Common.Model/Helper/StaticHelper.cs
+++ b/src/Bro.Common.Model/Helper/StaticHelper.cs
@@ -250,5 +250,23 @@
collection.Move(collection.IndexOf(sortedList[i]), i);
}
}
+
+ // 甯冨皵绫诲瀷杞崲涓烘暣鍨�
+ public static int ToInt(this object obj)
+ {
+ if (Convert.ToBoolean(obj) == true)
+ return 1;
+ else
+ return 0;
+ }
+
+ // 鏁村瀷杞崲涓哄竷灏旂被鍨�
+ public static bool ToBool(this object obj)
+ {
+ if (Convert.ToInt32(obj) == 1)
+ return true;
+ else
+ return false;
+ }
}
}
diff --git a/src/Bro.Common.Model/Model/MotionCardRelated.cs b/src/Bro.Common.Model/Model/MotionCardRelated.cs
index 5b4f5ac..a285cdc 100644
--- a/src/Bro.Common.Model/Model/MotionCardRelated.cs
+++ b/src/Bro.Common.Model/Model/MotionCardRelated.cs
@@ -35,66 +35,66 @@
[Category("鎹㈢畻閰嶇疆")]
[DisplayName("鑴夊啿鏁版崲绠楁瘮渚�")]
[Description("鑴夊啿鏁板拰鍏朵粬璁￠噺鍗曚綅鐨勬崲绠楁瘮渚嬶紝渚嬪璁剧疆涓�1000锛岃〃绀�1000涓剦鍐茬瓑浜�1uint")]
- public int PulseRatio { get; set; } = 1;
+ public int AxisRatio { get; set; } = 1;
- [Category("閫熷害閰嶇疆")]
- [DisplayName("榛樿閫熷害鍙傛暟")]
- [Description("VelocityPara锛氶粯璁ら�熷害鍙傛暟")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public VelocityPara VelocityPara { get; set; } = new VelocityPara();
+ //[Category("閫熷害閰嶇疆")]
+ //[DisplayName("榛樿閫熷害鍙傛暟")]
+ //[Description("VelocityPara锛氶粯璁ら�熷害鍙傛暟")]
+ //[TypeConverter(typeof(ComplexObjectConvert))]
+ //[Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
+ //public VelocityPara VelocityPara { get; set; } = new VelocityPara();
- [Category("鍥炲師鐐硅缃�")]
- [DisplayName("鍥炲師鐐规ā寮�")]
- [Description("HomeMode锛氬洖鍘熺偣妯″紡銆�0锛氫竴鑸ā寮� 1锛氭瀬闄愰檺浣嶆ā寮� 2锛氬閮ㄨЕ鍙戞ā寮�")]
- public int HomeMode { get; set; } = 0;
+ //[Category("鍥炲師鐐硅缃�")]
+ //[DisplayName("鍥炲師鐐规ā寮�")]
+ //[Description("HomeMode锛氬洖鍘熺偣妯″紡銆�0锛氫竴鑸ā寮� 1锛氭瀬闄愰檺浣嶆ā寮� 2锛氬閮ㄨЕ鍙戞ā寮�")]
+ //public int HomeMode { get; set; } = 0;
- [Category("鍥炲師鐐硅缃�")]
- [DisplayName("鍥炲師鐐规柟鍚�")]
- [Description("IsHomePositive锛氬洖鍘熺偣鏂瑰悜銆� true锛氭鏂瑰悜寮�濮� false锛氳礋鏂瑰悜寮�濮�")]
- public bool IsHomePositive { get; set; } = true;
+ //[Category("鍥炲師鐐硅缃�")]
+ //[DisplayName("鍥炲師鐐规柟鍚�")]
+ //[Description("IsHomePositive锛氬洖鍘熺偣鏂瑰悜銆� true锛氭鏂瑰悜寮�濮� false锛氳礋鏂瑰悜寮�濮�")]
+ //public bool IsHomePositive { get; set; } = true;
- [Category("鍥炲師鐐硅缃�")]
- [DisplayName("鏄惁鑷姩鍥炲師鐐�")]
- [Description("IsAutoGoHome锛氭槸鍚﹁嚜鍔ㄥ洖鍘熺偣銆� true锛氭槸 false锛氬惁")]
- public bool IsAutoGoHome { get; set; } = false;
+ //[Category("鍥炲師鐐硅缃�")]
+ //[DisplayName("鏄惁鑷姩鍥炲師鐐�")]
+ //[Description("IsAutoGoHome锛氭槸鍚﹁嚜鍔ㄥ洖鍘熺偣銆� true锛氭槸 false锛氬惁")]
+ //public bool IsAutoGoHome { get; set; } = false;
- [Category("瓒呮椂璁剧疆")]
- [DisplayName("鍥炲師鐐硅秴鏃�")]
- [Description("TimeOutHome锛氬洖鍘熺偣瓒呮椂锛屽崟浣嶆绉�")]
- public int TimeOutHome { get; set; } = 30000;
+ //[Category("瓒呮椂璁剧疆")]
+ //[DisplayName("鍥炲師鐐硅秴鏃�")]
+ //[Description("TimeOutHome锛氬洖鍘熺偣瓒呮椂锛屽崟浣嶆绉�")]
+ //public int TimeOutHome { get; set; } = 30000;
- [Category("瓒呮椂璁剧疆")]
- [DisplayName("杩愬姩瓒呮椂")]
- [Description("TimeOutMove锛氳繍鍔ㄨ秴鏃讹紝鍗曚綅姣")]
- public int TimeOutMove { get; set; } = 10000;
+ //[Category("瓒呮椂璁剧疆")]
+ //[DisplayName("杩愬姩瓒呮椂")]
+ //[Description("TimeOutMove锛氳繍鍔ㄨ秴鏃讹紝鍗曚綅姣")]
+ //public int TimeOutMove { get; set; } = 10000;
- [Category("寮�闂幆璁剧疆")]
- [DisplayName("鏄惁浣跨敤Cmmd鍥為")]
- [Description("IsUseCmmdPosition锛氭槸鍚︿娇鐢–mmd鍥為")]
- public bool IsUseCmmdPosition { get; set; } = false;
+ //[Category("寮�闂幆璁剧疆")]
+ //[DisplayName("鏄惁浣跨敤Cmmd鍥為")]
+ //[Description("IsUseCmmdPosition锛氭槸鍚︿娇鐢–mmd鍥為")]
+ //public bool IsUseCmmdPosition { get; set; } = false;
- [Category("寮�闂幆璁剧疆")]
- [DisplayName("鏄惁浣跨敤鏉垮崱鍙嶉鍋滄淇″彿")]
- [Description("IsUseMDNStopSignal锛氭槸鍚︿娇鐢ㄦ澘鍗″弽棣堝仠姝俊鍙�")]
- public bool IsUseMDNStopSignal { get; set; } = false;
+ //[Category("寮�闂幆璁剧疆")]
+ //[DisplayName("鏄惁浣跨敤鏉垮崱鍙嶉鍋滄淇″彿")]
+ //[Description("IsUseMDNStopSignal锛氭槸鍚︿娇鐢ㄦ澘鍗″弽棣堝仠姝俊鍙�")]
+ //public bool IsUseMDNStopSignal { get; set; } = false;
- [Category("寮�闂幆璁剧疆")]
- [DisplayName("鏄惁鍚敤鎶ヨ")]
- [Description("IsUseWarning锛氭槸鍚﹀惎鐢ㄦ姤璀�")]
- public bool IsUseWarning { get; set; } = false;
+ //[Category("寮�闂幆璁剧疆")]
+ //[DisplayName("鏄惁鍚敤鎶ヨ")]
+ //[Description("IsUseWarning锛氭槸鍚﹀惎鐢ㄦ姤璀�")]
+ //public bool IsUseWarning { get; set; } = false;
- [Category("鏆傚仠閰嶇疆")]
- [DisplayName("鏄惁鍚敤绔嬪嵆鏆傚仠")]
- [Description("IsImmediatePause锛氭槸鍚﹀惎鐢ㄧ珛鍗虫殏鍋�")]
- public bool IsImmediatePause { get; set; } = false;
+ //[Category("鏆傚仠閰嶇疆")]
+ //[DisplayName("鏄惁鍚敤绔嬪嵆鏆傚仠")]
+ //[Description("IsImmediatePause锛氭槸鍚﹀惎鐢ㄧ珛鍗虫殏鍋�")]
+ //public bool IsImmediatePause { get; set; } = false;
- [Category("鏆傚仠閰嶇疆")]
- [DisplayName("杞翠綅缃浜庡尯闂村唴鏃堕�傜敤鐨勬殏鍋滄搷浣�")]
- [Description("ImmediatePauseSections锛氬綋杞翠綅缃浜庡尯闂村唴鏃堕�傜敤鐨勬殏鍋滄搷浣�")]
- [TypeConverter(typeof(CollectionCountConvert))]
- [Editor(typeof(ComplexCollectionEditor<Section>), typeof(UITypeEditor))]
- public List<Section> ImmediatePauseSections { get; set; } = new List<Section>();
+ //[Category("鏆傚仠閰嶇疆")]
+ //[DisplayName("杞翠綅缃浜庡尯闂村唴鏃堕�傜敤鐨勬殏鍋滄搷浣�")]
+ //[Description("ImmediatePauseSections锛氬綋杞翠綅缃浜庡尯闂村唴鏃堕�傜敤鐨勬殏鍋滄搷浣�")]
+ //[TypeConverter(typeof(CollectionCountConvert))]
+ //[Editor(typeof(ComplexCollectionEditor<Section>), typeof(UITypeEditor))]
+ //public List<Section> ImmediatePauseSections { get; set; } = new List<Section>();
public string GetDisplayText()
{
@@ -305,6 +305,11 @@
}
}
+ [Category("鏉垮崱杩愬姩閰嶇疆")]
+ [Description("瓒呮椂璁剧疆锛屽崟浣嶏細ms")]
+ [DisplayName("杩愬姩瓒呮椂")]
+ public int MovingTimeout { get; set; } = 0;
+
internal List<AxisSetting> _axisSettingList = new List<AxisSetting>();
public void SetAxisSetting(List<AxisSetting> settings)
{
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index 04c2bf1..f2c0343 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -75,10 +75,111 @@
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)
{
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;
}
@@ -164,25 +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;
- //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)
- //{
- // //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());
+ ResponseMessage responseMessage = new ResponseMessage();
+ var gtsOperationCollection = opConfig as MotionOperationCollection;
+ List<Task<bool>> taskList = new List<Task<bool>>();
+ foreach (var movingOp in gtsOperationCollection.MovingOps)
+ {
+ var task = SingleAxisMoving(movingOp);
+ taskList.Add(task);
+ }
- //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>
@@ -220,48 +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.MotorMoveMode.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 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;
+ }
+
+ if (optionPara.IsAbsolute)
+ {
+ isSuccessAndStop = P2PMoveAbs(optionPara);
+ }
+ else
+ {
+ isSuccessAndStop = P2PMoveRel(optionPara);
+ }
+
+ }
+ break;
+ case MotorMoveMode.FindOri:
+ {
+ isSuccessAndStop = GoHome(optionPara);
+ }
+ break;
+ case MotorMoveMode.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;
});
@@ -332,7 +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);
@@ -406,11 +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);
@@ -422,8 +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;
@@ -477,9 +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);
@@ -491,8 +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;
@@ -637,14 +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;
}
@@ -652,7 +765,6 @@
/// <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 override void WriteOutput(short cardNum, short index, IOValue value)
--
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