From 2a64cf1e9184dd3924cdeaaa1b867f99f6d4594c Mon Sep 17 00:00:00 2001 From: wells <123> Date: 星期五, 10 七月 2020 18:40:44 +0800 Subject: [PATCH] 7.10 --- src/Bro.Device.GTSCard/GTSCardDriver.cs | 57 +++++++++++++++++++++++++++++---------------------------- 1 files changed, 29 insertions(+), 28 deletions(-) diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs index 2d3d26e..ef7a20d 100644 --- a/src/Bro.Device.GTSCard/GTSCardDriver.cs +++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs @@ -162,7 +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; @@ -220,7 +220,7 @@ /// <summary> /// 鍚姩绔嬪嵆鏆傚仠 /// </summary> - public void SetImmediatePause() + public override void SetImmediatePause() { if (!_isResetting) { @@ -240,7 +240,7 @@ /// <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(); @@ -362,14 +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) @@ -856,7 +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); @@ -1028,27 +1029,27 @@ 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) -- Gitblit v1.8.0