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 | 616 +++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 438 insertions(+), 178 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index 6927c56..ef7a20d 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -18,12 +18,12 @@
namespace Bro.Device.GTSCard
{
[Device("GTSCard", "鍥洪珮鏉垮崱", EnumHelper.DeviceAttributeType.Device)]
- public class GTSCardDriver : DeviceBase, IMonitor, IMotion
+ public class GTSCardDriver : MotionCardBase
{
// 寮傚父浜嬩欢
public Action<Exception> OnExceptionRaised;
- public GTSCardInitialConfig IConfig
+ public GTSCardInitialConfig IIConfig
{
get
{
@@ -37,14 +37,36 @@
/// </summary>
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>();
+
public void SetResetFlag(bool isReset)
{
_isResetting = isReset;
}
- public List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
+ public override List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
{
- throw new NotImplementedException();
+ List<AxisInfo> axisInfos = new List<AxisInfo>();
+ IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ForEach(axisSetting =>
+ {
+ AxisInfo axisInfo = new AxisInfo();
+ axisInfo.AxisName = axisSetting.AxisName;
+ var axisMovingStatus = AxisMovingOptionValues.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex);
+ axisInfo.AxisLocation = axisMovingStatus == null ? 0 : Convert.ToDouble(axisMovingStatus.CurPosition);
+
+ axisInfos.Add(axisInfo);
+ });
+ return axisInfos;
}
#region DeviceBase
@@ -52,16 +74,23 @@
protected override void Init()
{
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.Values.ToList().ForEach(c =>
+ //{
+ // c = new CancellationTokenSource();
+ //});
}
protected override void Pause()
{
- throw new NotImplementedException();
+
}
protected override void Resume()
{
- throw new NotImplementedException();
+
}
protected override void Start()
@@ -73,6 +102,154 @@
{
AllMoveStop();
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();
+ if (config is MotionCardOperationConfigBase motionCardOperationConfig)
+ {
+ 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(new MotionOperationCollection() { MovingOps = operationSet.MovingOps });
+ 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
+
+ #region ImmediatePause
+ /// <summary>
+ /// 鍚姩绔嬪嵆鏆傚仠
+ /// </summary>
+ public override void SetImmediatePause()
+ {
+ if (!_isResetting)
+ {
+ var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();
+
+ immediatePauseAxis.ForEach(async axisIndex =>
+ {
+ axisImmediatePauseHandleDict[axisIndex].Reset();
+
+ //axisMoveCancelDict[axisIndex].Cancel();
+
+ await MoveStop(axisIndex, 0);//鎵�鏈夎酱閮芥殏鍋�
+ });
+ }
+ }
+
+ /// <summary>
+ /// 鎭㈠绔嬪嵆鏆傚仠
+ /// </summary>
+ 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();
+
+ axisImmediatePauseHandleDict[axisIndex].Set();
+ });
}
#endregion
@@ -87,20 +264,21 @@
{
var res = GTSCardAPI.GT_Open((short)IConfig.CardNum, 0, 1); //鎵撳紑杩愬姩鎺у埗鍣ㄣ�傚弬鏁板繀椤讳负锛�0,1锛夛紝涓嶈兘淇敼銆�
res += GTSCardAPI.GT_LoadConfig((short)IConfig.CardNum, IConfig.InitialConfigFilePath);
- res += GTSCardAPI.GT_ClrSts(0, 1, 8);
+ ClearStatus(1, IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled).Count);
if (res != (short)GTSRetCode.GRCRunOK)
{
throw new Exception("鏉垮崱杞藉叆閰嶇疆鏂囦欢寮傚父锛岄敊璇爜锛�" + res);
}
}
- public bool AllAxisOn()
+
+ public override bool AllAxisOn()
{
List<Task<bool>> taskList = new List<Task<bool>>(); ;
// 濡傛灉鏄涓酱鐨勮繍鍔� 绛夋瘡涓酱寮�鍚�
- IConfig.AxisSettings.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>
+ IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ForEach(axisNum =>
{
- var task = AxisOnAsync((short)IConfig.CardNum, (short)axisNum.AxisIndex);
+ var task = AxisOnAsync(axisNum.AxisIndex);
taskList.Add(task);
});
Task.WaitAll(taskList.ToArray());
@@ -108,13 +286,13 @@
return resultOK;
}
- public bool AllAxisOff()
+ public override bool AllAxisOff()
{
List<Task<bool>> taskList = new List<Task<bool>>(); ;
// 濡傛灉鏄涓酱鐨勮繍鍔� 绛夋瘡涓酱鍏抽棴
- IConfig.AxisSettings.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>
+ IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ForEach(axisNum =>
{
- var task = AxisOffAsync((short)IConfig.CardNum, (short)axisNum.AxisIndex);
+ var task = AxisOffAsync(axisNum.AxisIndex);
taskList.Add(task);
});
Task.WaitAll(taskList.ToArray());
@@ -126,11 +304,11 @@
/// 鍗曚釜杞村紑鍚�
/// </summary>
/// <returns></returns>
- public async Task<bool> AxisOnAsync(short cardNum, short axisNum)
+ public override async Task<bool> AxisOnAsync(int axisNum)
{
return await Task.Run(() =>
{
- var ret = GTSCardAPI.GT_AxisOn(cardNum, axisNum);
+ var ret = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisNum);
return ret == (short)GTSRetCode.GRCRunOK;
});
}
@@ -139,11 +317,11 @@
/// 鍗曚釜杞村叧闂�
/// </summary>
/// <returns></returns>
- public async Task<bool> AxisOffAsync(short cardNum, short axisNum)
+ public override async Task<bool> AxisOffAsync(int axisNum)
{
return await Task.Run(() =>
{
- var ret = GTSCardAPI.GT_AxisOff(cardNum, axisNum);
+ var ret = GTSCardAPI.GT_AxisOff((short)IConfig.CardNum, (short)axisNum);
return ret == (short)GTSRetCode.GRCRunOK;
});
}
@@ -153,27 +331,26 @@
/// </summary>
/// <param name="item">杩愬姩瀵硅薄</param>
/// <returns>杩愬姩鎺у埗+鍋滄鍒ゆ柇</returns>
- public ResponseMessage MoveToPoint(IOperationConfig opConfig)
+ 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)
+ ResponseMessage responseMessage = new ResponseMessage();
+ if (opConfig is MotionOperationCollection gtsOperationCollection)
{
- //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());
+ 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>
@@ -185,14 +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)
@@ -206,53 +384,62 @@
/// 鍗曚釜杞� 杩愬姩(鐐瑰埌鐐� jog 鍥為浂...锛�
/// </summary>
/// <param name="optionPara">杩愬姩鍙傛暟瀵硅薄</param>
- public async Task<bool> SingleAxisMoving(MovingOption optionPara)
+ public override async Task<bool> SingleAxisMoving(MovingOption optionPara)
{
return await Task.Run(() =>
{
+ axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
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;
});
@@ -272,7 +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;
}
@@ -292,9 +480,43 @@
{
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;
}
+ }
+
+ /// <summary>
+ /// 鑾峰彇瑙勫垝閫熷害
+ /// </summary>
+ /// <param name="axisNum">Axis number</param>
+ /// <returns>閫熷害鑴夊啿</returns>
+ public double GetPrfVelocity(int axisNum)
+ {
+ double prfVel = 0;
+ uint pclock = 0;
+ var ret = GTSCardAPI.GT_GetPrfVel((short)IConfig.CardNum, (short)axisNum, out prfVel, 1, out pclock);
+ if (ret != (short)GTSRetCode.GRCRunOK)
+ {
+ throw new Exception("杞�" + axisNum + "鑾峰彇瑙勫垝閫熷害寮傚父锛岄敊璇爜锛�" + ret);
+ }
+ return prfVel;
+ }
+
+ /// <summary>
+ /// 鑾峰彇褰撳墠閫熷害
+ /// </summary>
+ /// <param name="axisNum">Axis number</param>
+ /// <returns>閫熷害鑴夊啿</returns>
+ public double GetVelocity(int axisNum)
+ {
+ double vel = 0;
+ var ret = GTSCardAPI.GT_GetVel((short)IConfig.CardNum, (short)axisNum, out vel);
+ if (ret != (short)GTSRetCode.GRCRunOK)
+ {
+ throw new Exception("杞�" + axisNum + "鑾峰彇褰撳墠閫熷害寮傚父锛岄敊璇爜锛�" + ret);
+ }
+ return vel;
}
/// <summary>
@@ -322,8 +544,8 @@
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);
+ LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "JogMove寮傚父", "閿欒鐮侊細" + ret + ";" + "閲嶈瘯娆℃暟锛�" + repeatTime);
+ Thread.Sleep(10);
}
repeatTime--;
} while (ret != (short)GTSRetCode.GRCRunOK && repeatTime > 0);
@@ -335,29 +557,6 @@
OnExceptionRaised?.Invoke(ex);
return false;
}
-
- }
-
- /// <summary>
- /// Set Single Axis Do stop Jog Move
- /// </summary>
- /// <param name="axisNum">AxisNo</param>
- /// <returns></returns>
- public bool StopJog(int axisNum)
- {
- //鍋滄杩愬姩
- MoveStop(axisNum, 0);
- //杩愬姩寮�濮嬪悗 妫�鏌ヨ繍鍔ㄦ槸鍚﹀仠姝�
- bool isStop = false;
- int repeatTime = 1000;
- do
- {
- isStop = IsStop((short)IConfig.CardNum, (short)axisNum);
- Thread.Sleep(50);
- repeatTime--;
- } while (!isStop && repeatTime > 0);
-
- return isStop;
}
/// <summary>
@@ -397,15 +596,16 @@
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;
+ 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)
@@ -413,15 +613,19 @@
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;
repeatTime = 1000;
do
{
- isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
+ isStop = IsStop((short)optionPara.AxisIndex);
Thread.Sleep(50);
repeatTime--;
} while (!isStop && repeatTime > 0);
@@ -444,6 +648,8 @@
{
try
{
+ axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
+
if (_isResetting)
{
LogAsync(DateTime.Now, "澶嶄綅杩囩▼寮傚父", "杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄥ浣嶈繃绋嬩腑杩愬姩");
@@ -468,13 +674,14 @@
}
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;
+ 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)
@@ -482,17 +689,21 @@
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;
- do
+ while (!isStop && repeatTime > 0)
{
- isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
+ isStop = IsStop((short)optionPara.AxisIndex);
Thread.Sleep(50);
repeatTime--;
- } while (!isStop && repeatTime > 0);
+ }
return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
}
@@ -510,7 +721,7 @@
/// <param name="axisNum">axisNo</param>
/// <param name="option">0琛ㄧず骞虫粦鍋滄锛�1琛ㄧず绱ф�ュ仠姝�</param>
/// <returns></returns>
- public async Task<bool> MoveStop(int axisNum, int option)
+ public override async Task<bool> MoveStop(int axisNum, int option)
{
return await Task.Run(() =>
{
@@ -532,7 +743,7 @@
int repeatTime = 100;
do
{
- isStop = IsStop((short)IConfig.CardNum, (short)axisNum);
+ isStop = IsStop((short)axisNum);
Thread.Sleep(10);
repeatTime--;
} while (!isStop && repeatTime > 0);
@@ -569,7 +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);
@@ -596,7 +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);
@@ -628,14 +839,13 @@
/// <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;
}
@@ -643,19 +853,19 @@
/// <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 index, IOValue value)
{
- short outNum = (short)(index % 100 + 1);
- if (value)
+ short outNum = (short)(index % 100);
+ if ((int)value <= 1)
{
- GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 0);
+ GTSCardAPI.GT_SetDoBit((short)IConfig.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((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)(currentValue == 1 ? 0 : 1));
}
}
@@ -665,25 +875,74 @@
/// <param name="cardNum">鏉垮崱鍙�</param>
/// <param name="axisNum">杞村彿</param>
/// <returns></returns>
- public bool IsStop(short cardNum, short axisNum)
+ public bool IsStop(short axisNum)
+ {
+ int sts = GetAxisStatus(axisNum);
+ if ((sts & 0x400) == 0) return true;//鍋滄杩斿洖true
+ else return false; //杩愯涓繑鍥瀎alse
+ }
+
+ /// <summary>
+ /// 璇诲彇杞寸姸鎬�
+ /// </summary>
+ /// <param name="axisNum">杞村彿</param>
+ /// <returns></returns>
+ public override int GetAxisStatus(int axisNum)
{
lock (moveLock)
{
int sts = 0;
uint pclock = 0;
- GTSCardAPI.GT_GetSts(cardNum, axisNum, out sts, 1, out pclock);
- if ((sts & 0x400) == 0) return true;//鍋滄杩斿洖true
- else return false; //杩愯涓繑鍥瀎alse
+ GTSCardAPI.GT_GetSts((short)IConfig.CardNum, (short)axisNum, out sts, 1, out pclock);
+ return sts;
+ }
+ }
+
+ public override bool ClearStatus(int startAxisIndex, int count)
+ {
+ var rtn = GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, (short)startAxisIndex, (short)count);
+ 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)
+ {
+ lock (moveLock)
+ {
+ var rtn = GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)startAxisIndex, (short)count);
+ return rtn == (short)GTSRetCode.GRCRunOK;
}
}
#endregion
#region IMonitor
- public event Action<DateTime, string, IDevice, IMonitorSet> OnMonitorInvoke;
- public event Action<DateTime, IDevice, IWarningSet> OnMonitorAlarm;
- public List<IOItem> MonitorValues { get; set; } = new List<IOItem>();
+ public List<AxisMovingStatus> GetAxisMovingStatus()
+ {
+ List<AxisMovingStatus> axisMovingStatusesList = new List<AxisMovingStatus>();
+ foreach (var axisConfig in IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled))
+ {
+ AxisMovingStatus axisMovingStatus = new AxisMovingStatus();
+ axisMovingStatus.AxisIndex = axisConfig.AxisIndex;
+ axisMovingStatus.AxisName = axisConfig.AxisName;
+ axisMovingStatus.CurPosition = Convert.ToInt32(GetPosition(axisMovingStatus.AxisIndex));
+ axisMovingStatus.Destination = Convert.ToInt32(GetPrfPosition(axisMovingStatus.AxisIndex));
+ axisMovingStatus.CurVelocity = GetVelocity(axisMovingStatus.AxisIndex);
+ axisMovingStatus.PrfVelocity = GetPrfVelocity(axisMovingStatus.AxisIndex);
+ axisMovingStatus.AxisStatus = GetAxisStatus(axisMovingStatus.AxisIndex);
+
+ axisMovingStatusesList.Add(axisMovingStatus);
+
+ }
+
+ return axisMovingStatusesList;
+ }
public List<IOItem> GetMonitorValues()
@@ -702,14 +961,14 @@
IOItem inItem = new IOItem()
{
IONum = index,
- Value = (inValue & (1 << index)) == 0 ? 1 : 0,
- IOType = IOType.In
+ 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,
- IOType = IOType.Out
+ Value = (outValue & (1 << index)) == 0 ? IOValue.TRUE : IOValue.FALSE,
+ IOType = IOType.OUTPUT
};
result.Add(inItem);
result.Add(outItem);
@@ -718,7 +977,7 @@
return result;
}
- public async void Monitor()
+ public async override void Monitor()
{
await Task.Run(() =>
{
@@ -729,7 +988,8 @@
if (!IConfig.IsEnableMonitor)
return;
var newValues = GetMonitorValues();
- if (newValues == null || newValues.Count == 0)
+ var newAxisMovingStatus = GetAxisMovingStatus();
+ if (newValues == null || newValues.Count == 0 || newAxisMovingStatus == null || newAxisMovingStatus.Count == 0)
continue;
Stopwatch sw = new Stopwatch();
@@ -740,6 +1000,8 @@
var tempOld = MonitorValues.DeepSerializeClone();
MonitorCheckAndInvoke(tempNew, tempOld);
}
+
+ AxisMovingOptionValues = new List<AxisMovingStatus>(newAxisMovingStatus);
MonitorValues = new List<IOItem>(newValues);
sw.Stop();
@@ -765,29 +1027,29 @@
});
}
- private void OnMethodInvoked(IAsyncResult ar)
+ 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.Out)
- {
- 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)
@@ -797,15 +1059,14 @@
{
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);
- OnMonitorAlarm?.BeginInvoke(DateTime.Now, this, warningSet, null, null);
+ ExcuteMonitorAlarm(DateTime.Now, this, warningSet);
}
});
#endregion
@@ -824,7 +1085,7 @@
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)
{
@@ -836,28 +1097,27 @@
// return tempNew[index].Value;
//}).ToList();
- OnMonitorInvoke?.BeginInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet, OnMethodInvoked, monitorSet);
+ ExcuteMonitorInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet);
}
}
});
#endregion
}
- public void ResetAlarm()
+ public override void ResetAlarm()
{
int axis_sts;
- uint clk;
var axisSettings = IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled);
- GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, 1, (short)axisSettings.Count);
+ ClearStatus(1, axisSettings.Count);
foreach (var axisSetting in axisSettings)
{
- GTSCardAPI.GT_GetSts((short)IConfig.CardNum, (short)axisSetting.AxisIndex, out axis_sts, 1, out clk);
+ axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
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)
{
@@ -882,7 +1142,7 @@
}
// 娓呴櫎鐘舵��
- GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, 1, (short)IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled).Count);
+ ClearStatus(1, axisSettings.Count);
}
object _alarmLock = new object();
--
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