From 0ec82ee227c69197abc85dd828f5239d6323a051 Mon Sep 17 00:00:00 2001
From: xcd <834800634@qq.com>
Date: 星期六, 11 七月 2020 10:17:58 +0800
Subject: [PATCH] 添加板卡监听的输入数据配置
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 193 ++++++++++++++++++++++++++++++-----------------
1 files changed, 122 insertions(+), 71 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index 918ed22..6b701a8 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -21,7 +21,7 @@
public class GTSCardDriver : MotionCardBase
{
// 寮傚父浜嬩欢
- public Action<Exception> OnExceptionRaised;
+ //public Action<Exception> OnExceptionRaised;
public GTSCardInitialConfig IIConfig
{
@@ -38,11 +38,16 @@
bool _isResetting = false;
/// <summary>
+ /// 鏄惁鏆傚仠涓�
+ /// </summary>
+ bool _isPause = false;
+
+ /// <summary>
/// 杩愬姩杞寸珛鍗虫殏鍋�
/// </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)
{
@@ -56,7 +61,7 @@
{
AxisInfo axisInfo = new AxisInfo();
axisInfo.AxisName = axisSetting.AxisName;
- var axisMovingStatus = AxisMovingOptionValues.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex);
+ var axisMovingStatus = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex);
axisInfo.AxisLocation = axisMovingStatus == null ? 0 : Convert.ToDouble(axisMovingStatus.CurPosition);
axisInfos.Add(axisInfo);
@@ -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()
@@ -157,7 +162,7 @@
// 2.鏉垮崱杩愬姩
if (CurrentState == DeviceState.DSOpen)
{
- responseMessage = MoveToPoint(operationSet.MotionOperationCollection);
+ responseMessage = MoveToPoint(new MotionOperationCollection() { MovingOps = operationSet.MovingOps });
if (!responseMessage.Result)
{
return responseMessage;
@@ -215,7 +220,7 @@
/// <summary>
/// 鍚姩绔嬪嵆鏆傚仠
/// </summary>
- public void SetImmediatePause()
+ public override void SetImmediatePause()
{
if (!_isResetting)
{
@@ -225,9 +230,9 @@
{
axisImmediatePauseHandleDict[axisIndex].Reset();
- axisMoveCancelDict[axisIndex].Cancel();
+ //axisMoveCancelDict[axisIndex].Cancel();
- await MoveStop(axisIndex, 0);
+ await MoveStop(axisIndex, 0);//鎵�鏈夎酱閮芥殏鍋�
});
}
}
@@ -235,13 +240,13 @@
/// <summary>
/// 鎭㈠绔嬪嵆鏆傚仠
/// </summary>
- public void ResetImmediatePause()
+ public override void ResetImmediatePause()
{
var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();
immediatePauseAxis.ForEach(axisIndex =>
{
- axisMoveCancelDict[axisIndex] = new CancellationTokenSource();
+ //axisMoveCancelDict[axisIndex] = new CancellationTokenSource();
axisImmediatePauseHandleDict[axisIndex].Set();
});
@@ -357,14 +362,15 @@
{
List<short> resultCode = new List<short>() { 0 };
GTSCardAPI.TTrapPrm trapprm = new GTSCardAPI.TTrapPrm();
- resultCode.Add(GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)optionPara.AxisIndex));
- resultCode.Add(GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, (short)optionPara.AxisIndex, out trapprm));
+ short axisIndex = short.Parse(optionPara.AxisIndexStr);
+ resultCode.Add(GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, axisIndex));
+ resultCode.Add(GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, axisIndex, out trapprm));
trapprm.smoothTime = 1;
trapprm.acc = optionPara.VelocityPara.Acc != 0 ? optionPara.VelocityPara.Acc : 1;
trapprm.dec = optionPara.VelocityPara.Dec != 0 ? optionPara.VelocityPara.Dec : 1;
- resultCode.Add(GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, (short)optionPara.AxisIndex, ref trapprm));
- resultCode.Add(GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)optionPara.AxisIndex, optionPara.VelocityPara.Velocity * IConfig.AxisVelocityRatio));
+ resultCode.Add(GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, axisIndex, ref trapprm));
+ resultCode.Add(GTSCardAPI.GT_SetVel((short)IConfig.CardNum, axisIndex, optionPara.VelocityPara.Velocity * IConfig.AxisVelocityRatio));
var resultOK = resultCode.All(u => u == (short)GTSRetCode.GRCRunOK);
if (!resultOK)
@@ -382,13 +388,12 @@
{
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();
@@ -454,7 +459,8 @@
{
throw new Exception("杞�" + axisNum + "鑾峰彇瑙勫垝浣嶇疆寮傚父锛岄敊璇爜锛�" + ret);
}
- position = prfpos / IConfig.AxisVelocityRatio;
+ var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum).AxisRatio;
+ position = prfpos / AxisRatio;
return position;
}
@@ -474,7 +480,8 @@
{
throw new Exception("杞�" + axisNum + "鑾峰彇鐩爣浣嶇疆寮傚父锛岄敊璇爜锛�" + ret);
}
- position = pPos / IConfig.AxisVelocityRatio;
+ var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum).AxisRatio;
+ position = pPos / AxisRatio;
return position;
}
}
@@ -483,7 +490,7 @@
/// 鑾峰彇瑙勫垝閫熷害
/// </summary>
/// <param name="axisNum">Axis number</param>
- /// <returns></returns>
+ /// <returns>閫熷害鑴夊啿</returns>
public double GetPrfVelocity(int axisNum)
{
double prfVel = 0;
@@ -493,7 +500,6 @@
{
throw new Exception("杞�" + axisNum + "鑾峰彇瑙勫垝閫熷害寮傚父锛岄敊璇爜锛�" + ret);
}
- prfVel = prfVel / IConfig.AxisVelocityRatio;
return prfVel;
}
@@ -501,7 +507,7 @@
/// 鑾峰彇褰撳墠閫熷害
/// </summary>
/// <param name="axisNum">Axis number</param>
- /// <returns></returns>
+ /// <returns>閫熷害鑴夊啿</returns>
public double GetVelocity(int axisNum)
{
double vel = 0;
@@ -510,7 +516,6 @@
{
throw new Exception("杞�" + axisNum + "鑾峰彇褰撳墠閫熷害寮傚父锛岄敊璇爜锛�" + ret);
}
- vel = vel / IConfig.AxisVelocityRatio;
return vel;
}
@@ -549,7 +554,7 @@
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -595,11 +600,12 @@
int currentPosition = (int)GetPosition(optionPara.AxisIndex);
int dPosition = optionPara.Destination + currentPosition;
int timeout = optionPara.MovingTimeout;
+ var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex).AxisRatio;
while (CurrentState == DeviceState.DSOpen)
{
//璁剧疆 杩愬姩鍙傛暟
isSuccessSetAxisParam = SetAxisParam(optionPara);
- ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition * IConfig.AxisVelocityRatio));// 璁剧疆瑙勫垝浣嶇疆
+ ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition * AxisRatio));// 璁剧疆瑙勫垝浣嶇疆
ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//鏇存柊杩愬姩
if (ret != (short)GTSRetCode.GRCRunOK)
@@ -629,7 +635,7 @@
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -670,11 +676,12 @@
short ret = 0;
bool isSuccessSetAxisParam = false;
int timeout = optionPara.MovingTimeout;
- while (CurrentState == DeviceState.DSOpen)
+ var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex).AxisRatio;
+ while (CurrentState == DeviceState.DSOpen && !_isPause)
{
//璁剧疆 杩愬姩鍙傛暟
isSuccessSetAxisParam = SetAxisParam(optionPara);
- ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(optionPara.Destination * IConfig.AxisVelocityRatio));// 璁剧疆瑙勫垝浣嶇疆
+ ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(optionPara.Destination * AxisRatio));// 璁剧疆瑙勫垝浣嶇疆
ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//鏇存柊杩愬姩
if (ret != (short)GTSRetCode.GRCRunOK)
@@ -691,19 +698,19 @@
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;
}
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -773,7 +780,7 @@
{
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 +807,7 @@
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);
@@ -810,7 +817,7 @@
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -850,7 +857,7 @@
/// <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 index, IOValue value)
{
- short outNum = (short)(index % 100 + 1);
+ short outNum = (short)(index % 100);
if ((int)value <= 1)
{
GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)value);
@@ -870,7 +877,7 @@
/// <returns></returns>
public bool IsStop(short axisNum)
{
- int sts = GetAxisStatus(axisNum);
+ int sts = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisNum).AxisStatus;
if ((sts & 0x400) == 0) return true;//鍋滄杩斿洖true
else return false; //杩愯涓繑鍥瀎alse
}
@@ -897,10 +904,19 @@
return rtn == (short)GTSRetCode.GRCRunOK;
}
+ /// <summary>
+ /// 浣嶇疆鍥為浂
+ /// </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
@@ -971,8 +987,10 @@
{
if (!IConfig.IsEnableMonitor)
return;
+
var newValues = GetMonitorValues();
var newAxisMovingStatus = GetAxisMovingStatus();
+
if (newValues == null || newValues.Count == 0 || newAxisMovingStatus == null || newAxisMovingStatus.Count == 0)
continue;
@@ -980,12 +998,21 @@
sw.Start();
if (MonitorValues.Count == newValues.Count)
{
- var tempNew = newValues.DeepSerializeClone();//clone
- var tempOld = MonitorValues.DeepSerializeClone();
+ //var tempNew = newValues.DeepSerializeClone();//clone
+ //var tempOld = MonitorValues.DeepSerializeClone();
+ var tempNew = new List<IOItem>(newValues);//clone
+ var tempOld = new List<IOItem>(MonitorValues);
MonitorCheckAndInvoke(tempNew, tempOld);
}
- AxisMovingOptionValues = new List<AxisMovingStatus>(newAxisMovingStatus);
+ if (AxisStatusList.Count == newAxisMovingStatus.Count)
+ {
+ var tempNew = new List<AxisMovingStatus>(newAxisMovingStatus);//clone
+ var tempOld = new List<AxisMovingStatus>(AxisStatusList);
+ AxisStatusCheck(tempNew, tempOld);
+ }
+
+ AxisStatusList = new List<AxisMovingStatus>(newAxisMovingStatus);
MonitorValues = new List<IOItem>(newValues);
sw.Stop();
@@ -1011,29 +1038,52 @@
});
}
+ private async void AxisStatusCheck(List<AxisMovingStatus> tempNew, List<AxisMovingStatus> tempOld)
+ {
+ await Task.Run(() =>
+ {
+ foreach (var newSts in tempNew)
+ {
+ var oldSts = tempOld.FirstOrDefault(u => u.AxisIndex == newSts.AxisIndex);
+ if (oldSts != null)
+ {
+ if (oldSts.AxisStatus != newSts.AxisStatus)
+ {
+ AxisStatusChanged(newSts.AxisIndex, oldSts.AxisStatus, newSts.AxisStatus);
+ }
+
+ if (((newSts.AxisStatus >> 1 & 1) == 1) && ((oldSts.AxisStatus >> 1 & 1) == 0)) //鍒濇鎶ヨ
+ {
+ AxisAlarmRaised(newSts.AxisStatus, $"杞磠newSts.AxisIndex}:{newSts.AxisName}杞翠己鏈嶆姤璀�");
+ }
+ }
+ }
+ });
+ }
+
public override void OnMethodInvoked(IAsyncResult ar)
{
- MotionCardMonitorSet monitorSet = ar.AsyncState as MotionCardMonitorSet;
- ProcessResponse resValues = monitorSet.Response;
- if (resValues.ResultValue == (int)ReplyValue.IGNORE)
- {
- return;
- }
+ //MotionCardMonitorSet monitorSet = ar.AsyncState as MotionCardMonitorSet;
+ //ProcessResponse resValues = monitorSet.Response;
+ //if (resValues.ResultValue == (int)ReplyValue.IGNORE)
+ //{
+ // return;
+ //}
- Stopwatch sw = new Stopwatch();
- sw.Start();
- // 灏嗘寚瀹欼OItem鍐欏叆鏉垮崱
- foreach (var replyIOData in monitorSet.ReplyIODatas)
- {
- //鍐欏叆IO杈撳嚭
- if (replyIOData.IOType == IOType.OUTPUT)
- {
- GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPI, (short)replyIOData.IONum, (short)replyIOData.Value);
- }
- // in鍙涓嶈兘鍐�
- }
- sw.Stop();
- LogAsync(DateTime.Now, $"{Name}鍙嶉瀹屾垚锛岃�楁椂{sw.ElapsedMilliseconds}ms", $"{resValues.GetDisplayText()}");
+ //Stopwatch sw = new Stopwatch();
+ //sw.Start();
+ //// 灏嗘寚瀹欼OItem鍐欏叆鏉垮崱
+ //foreach (var replyIOData in monitorSet.ReplyIODatas)
+ //{
+ // //鍐欏叆IO杈撳嚭
+ // if (replyIOData.IOType == IOType.OUTPUT)
+ // {
+ // GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPI, (short)replyIOData.IONum, (short)replyIOData.Value);
+ // }
+ // // in鍙涓嶈兘鍐�
+ //}
+ //sw.Stop();
+ //LogAsync(DateTime.Now, $"{Name}鍙嶉瀹屾垚锛岃�楁椂{sw.ElapsedMilliseconds}ms", $"{resValues.GetDisplayText()}");
}
protected void MonitorCheckAndInvoke(List<IOItem> tempNew, List<IOItem> tempOld)
@@ -1076,10 +1126,10 @@
monitorSet.OpConfig = new OperationConfigBase();
}
- //monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
- //{
- // return tempNew[index].Value;
- //}).ToList();
+ monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
+ {
+ return tempNew[index].Value == IOValue.TRUE ? 1 : 0;
+ }).ToList();
ExcuteMonitorInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet);
}
@@ -1095,13 +1145,14 @@
ClearStatus(1, axisSettings.Count);
foreach (var axisSetting in axisSettings)
{
- axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
+ //axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
+ axis_sts = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex).AxisStatus;
if ((axis_sts & 0x200) == 0)
{
var rst = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisSetting.AxisIndex);
}
- // 浣嶇疆璇烽浂
- GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, 1, (short)axisSettings.Count);
+ // 鎵�鏈変綅缃闆�
+ PositionReset(1, axisSettings.Count);
// 姝ｆ瀬闄愭姤璀�
if ((axis_sts & 0x20) != 0)
{
--
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