From 2edc3c54ba7a42d5e9bb9120b9881d418e6bd408 Mon Sep 17 00:00:00 2001
From: patrick.xu <patrick.xu@broconcentric.com>
Date: 星期五, 13 八月 2021 09:38:29 +0800
Subject: [PATCH] 1. GTS回原点修改，避免来回 2. 添加单键测量结果补偿 3. 部分条件限制，日志修改 4. 来料检debug，添加退出条件判断
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 557 +++++++++++++++++++++++++++++++++++++------------------
1 files changed, 377 insertions(+), 180 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index a917333..14b4c25 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -46,6 +46,8 @@
/// 杩愬姩杞寸珛鍗虫殏鍋�
/// </summary>
Dictionary<int, ManualResetEvent> axisImmediatePauseHandleDict = new Dictionary<int, ManualResetEvent>();
+ Dictionary<int, bool> axisImmediatePauseFlag = new Dictionary<int, bool>();
+ Dictionary<int, bool> axisPauseResumeFlag = new Dictionary<int, bool>();
//Dictionary<int, CancellationTokenSource> axisMoveCancelDict = new Dictionary<int, CancellationTokenSource>();
@@ -97,6 +99,9 @@
{
AllAxisOn();
+ MonitorPosition();
+ MonitorAxisStatus();
+
base.Start();
}
@@ -145,16 +150,22 @@
{
foreach (var preCheck in operationSet.PreCheckIOCollection)
{
- int timeout = operationSet.PreCheckIOTimeout;
+ _pauseHandle.Wait();
+
IOValue? ioData = null;
- while (CurrentState == DeviceState.DSOpen)
+ if (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))
+ int timeout = operationSet.PreCheckIOTimeout;
+
+ while (CurrentState == DeviceState.DSOpen)
{
- break;
+ 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;
+ }
}
}
@@ -170,10 +181,15 @@
// 2.鏉垮崱杩愬姩
if (CurrentState == DeviceState.DSOpen)
{
- responseMessage = MoveToPoint(new MotionOperationCollection() { MovingOps = operationSet.MovingOps });
- if (!responseMessage.Result)
+ _pauseHandle.Wait();
+
+ if (CurrentState == DeviceState.DSOpen)
{
- return responseMessage;
+ responseMessage = MoveToPoint(new MotionOperationCollection() { MovingOps = operationSet.MovingOps });
+ if (!responseMessage.Result)
+ {
+ return responseMessage;
+ }
}
}
@@ -181,18 +197,24 @@
// 3.IO杈撳嚭 涓嶉渶瑕佽秴鏃�
if (CurrentState == DeviceState.DSOpen)
{
+
foreach (var ioOutput in operationSet.IOOutputCollection)
{
- WriteOutput((short)ioOutput.IOItem.IONum, ioOutput.CheckValue);
+ _pauseHandle.Wait();
- //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 (CurrentState == DeviceState.DSOpen)
+ {
+ WriteOutput((short)ioOutput.IOItem.IONum, ioOutput.CheckValue);
- //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;
- //}
+ //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;
+ //}
+ }
}
}
@@ -228,6 +250,8 @@
#endregion
#region ImmediatePause
+ ManualResetEventSlim _pauseHandle = new ManualResetEventSlim(true);
+
/// <summary>
/// 鍚姩绔嬪嵆鏆傚仠
/// </summary>
@@ -236,12 +260,11 @@
if (!_isResetting)
{
var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();
-
+ _pauseHandle.Reset();
immediatePauseAxis.ForEach(async axisIndex =>
{
axisImmediatePauseHandleDict[axisIndex].Reset();
-
- //axisMoveCancelDict[axisIndex].Cancel();
+ axisImmediatePauseFlag[axisIndex] = true;
await MoveStop(axisIndex, 0);//鎵�鏈夎酱閮芥殏鍋�
});
@@ -251,15 +274,22 @@
/// <summary>
/// 鎭㈠绔嬪嵆鏆傚仠
/// </summary>
- public override void ResetImmediatePause()
+ public override void ResetImmediatePause(bool isResumeMoving)
{
var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();
-
+ _pauseHandle.Set();
immediatePauseAxis.ForEach(axisIndex =>
{
- //axisMoveCancelDict[axisIndex] = new CancellationTokenSource();
-
+ axisImmediatePauseFlag[axisIndex] = false;
axisImmediatePauseHandleDict[axisIndex].Set();
+ if (isResumeMoving)
+ {
+ axisPauseResumeFlag[axisIndex] = true;
+ }
+ else
+ {
+ axisPauseResumeFlag[axisIndex] = false;
+ }
});
}
#endregion
@@ -281,7 +311,6 @@
throw new ProcessException("鏉垮崱杞藉叆閰嶇疆鏂囦欢寮傚父锛岄敊璇爜锛�" + res);
}
}
-
public override bool AllAxisOn()
{
@@ -347,25 +376,17 @@
ResponseMessage responseMessage = new ResponseMessage();
if (opConfig is MotionOperationCollection gtsOperationCollection)
{
- //List<Task<bool>> taskList = new List<Task<bool>>();
- //foreach (var movingOp in gtsOperationCollection.MovingOps)
- //{
- // var task = SingleAxisMoving(movingOp);
- // taskList.Add(task);
- // task.Start();
- //}
- //Task.WaitAll(taskList.ToArray());
- //responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
-
List<bool> resultList = new List<bool>();
Parallel.ForEach(gtsOperationCollection.MovingOps, movingOp =>
{
+ axisImmediatePauseFlag[movingOp.AxisIndex] = false;
+ axisPauseResumeFlag[movingOp.AxisIndex] = true;
resultList.Add(SingleAxisMoving(movingOp).Result);
});
responseMessage.Result = resultList.All(u => u == true);
if (!responseMessage.Result)
{
- responseMessage.Message = $"鐐逛綅杩愬姩寮傚父";
+ responseMessage.Message = $"鐐逛綅杩愬姩寮傚父,杩愬姩缁撴灉锛歿string.Join(" ", resultList.Select(u => u ? "1" : "0"))}";
}
}
return responseMessage;
@@ -378,24 +399,28 @@
/// <returns></returns>
private bool SetAxisParam(MovingOption optionPara)
{
- List<short> resultCode = new List<short>() { 0 };
+ List<short> resultCode = new List<short>();
GTSCardAPI.TTrapPrm trapprm = new GTSCardAPI.TTrapPrm();
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;
- if (optionPara.VelocityPara.Acc != 0)
+ if (optionPara.VelocityPara.Acc != 0 || optionPara.VelocityPara.Dec != 0)
{
- trapprm.acc = optionPara.VelocityPara.Acc;
- }
+ resultCode.Add(GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, axisIndex, out trapprm));
+ trapprm.smoothTime = 1;
- if (optionPara.VelocityPara.Dec != 0)
- {
- trapprm.dec = optionPara.VelocityPara.Dec;
- }
+ if (optionPara.VelocityPara.Acc != 0)
+ {
+ trapprm.acc = optionPara.VelocityPara.Acc;
+ }
- resultCode.Add(GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, axisIndex, ref trapprm));
+ if (optionPara.VelocityPara.Dec != 0)
+ {
+ trapprm.dec = optionPara.VelocityPara.Dec;
+ }
+
+ resultCode.Add(GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, axisIndex, ref trapprm));
+ }
if (optionPara.VelocityPara.Velocity != 0)
{
@@ -405,9 +430,10 @@
var resultOK = resultCode.All(u => u == (short)GTSRetCode.GRCRunOK);
if (!resultOK)
{
- throw new ProcessException("杞�" + optionPara.AxisIndex + "璁剧疆鍙傛暟寮傚父锛岄敊璇爜锛�" + string.Join(",", resultCode));
+ //throw new ProcessException("杞�" + optionPara.AxisIndex + "璁剧疆鍙傛暟寮傚父锛岄敊璇爜锛�" + string.Join(",", resultCode));
+ LogAsync(DateTime.Now, $"杞磠optionPara.AxisIndex}璁剧疆鍙傛暟寮傚父锛岄敊璇爜锛歿string.Join(",", resultCode)}", "");
}
- return resultOK;
+ return true;
}
TaskFactory taskFactory = new TaskFactory(TaskCreationOptions.LongRunning, TaskContinuationOptions.LongRunning);
@@ -418,63 +444,64 @@
public override Task<bool> SingleAxisMoving(MovingOption optionPara)
{
return Task.Run(() =>
- {
- axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
- bool isSuccessAndStop = false;
- try
- {
- if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
- {
- // string _position = "";
- string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();
+ {
+ bool isSuccessAndStop = false;
+ do
+ {
+ axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
- // _position = $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff},{optionPara.AxisIndex},{motionType},{GetPosition(optionPara.AxisIndex)},{GetPrfPosition(optionPara.AxisIndex)},{optionPara.Destination},";
+ if (axisPauseResumeFlag.ContainsKey(optionPara.AxisIndex) && !axisPauseResumeFlag[optionPara.AxisIndex])
+ return true;
- 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;
- }
+ try
+ {
+ if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
+ {
+ string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();
- if (optionPara.IsAbsolute)
- {
- isSuccessAndStop = P2PMoveAbs(optionPara);
- }
- else
- {
- isSuccessAndStop = P2PMoveRel(optionPara);
- }
+ 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;
+ }
- }
- break;
- case MotionMode.FindOri:
- {
- //isSuccessAndStop = GoHome(optionPara);
- isSuccessAndStop = P2PGoHome(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);
- }
- }
- catch (Exception ex)
- {
- isSuccessAndStop = false;
- LogAsync(DateTime.Now, $"杞磠optionPara.AxisIndex}杩愬姩寮傚父", ex.GetExceptionMessage());
- }
- return isSuccessAndStop;
- });
+ if (optionPara.IsAbsolute)
+ {
+ isSuccessAndStop = P2PMoveAbs(optionPara);
+ }
+ //else
+ //{
+ // isSuccessAndStop = P2PMoveRel(optionPara);
+ //}
+
+ }
+ break;
+ case MotionMode.FindOri:
+ {
+ //isSuccessAndStop = GoHome(optionPara);
+ isSuccessAndStop = P2PGoHome(optionPara);
+ }
+ break;
+ case MotionMode.Jog:
+ {
+ isSuccessAndStop = JogMove(optionPara);
+ }
+ break;
+ }
+ }
+ }
+ catch (Exception ex)
+ {
+ isSuccessAndStop = false;
+ LogAsync(DateTime.Now, $"杞磠optionPara.AxisIndex}杩愬姩寮傚父", ex.GetExceptionMessage());
+ }
+ } while (axisImmediatePauseFlag.ContainsKey(optionPara.AxisIndex) && axisImmediatePauseFlag[optionPara.AxisIndex]);
+ return isSuccessAndStop;
+ });
}
/// <summary>
@@ -503,7 +530,7 @@
/// <returns></returns>
public double GetPosition(int axisNum)
{
- lock (moveLock)
+ //lock (moveLock)
{
double position = 0;
double pPos = 0;
@@ -623,7 +650,9 @@
if (CurrentState != EnumHelper.DeviceState.DSOpen)
{
LogAsync(DateTime.Now, "闈炴甯哥姸鎬佸紓甯�", "杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄩ潪姝ｅ父鐘舵�佽繍鍔�");
- throw new ProcessException("杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄩ潪姝ｅ父鐘舵�佽繍鍔�", null);
+
+ return false;
+ //throw new ProcessException("杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄩ潪姝ｅ父鐘舵�佽繍鍔�", null);
}
LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "寮�濮嬭繍鍔�", "鐩爣鍧愭爣锛�" + optionPara.Destination);
@@ -702,8 +731,11 @@
if (CurrentState != EnumHelper.DeviceState.DSOpen)
{
LogAsync(DateTime.Now, "闈炴甯哥姸鎬佸紓甯�", "杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄩ潪姝ｅ父鐘舵�佽繍鍔�");
- throw new ProcessException("杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄩ潪姝ｅ父鐘舵�佽繍鍔�", null);
+
+ return false;
+ //throw new ProcessException("杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄩ潪姝ｅ父鐘舵�佽繍鍔�", null);
}
+
LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "寮�濮嬭繍鍔�", "鐩爣鍧愭爣锛�" + optionPara.Destination);
short ret = 0;
bool isSuccessSetAxisParam = false;
@@ -737,7 +769,14 @@
repeatTime--;
}
- return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
+ if (repeatTime <= 0)
+ {
+ LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "APS_absolute_move鏈仠姝�", "");
+ return false;
+ }
+
+ //return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
+ return true;
}
catch (Exception ex)
{
@@ -760,7 +799,8 @@
bool isStop = false;
if (option == 1)
{
- StateChange(EnumHelper.DeviceState.DSExcept);
+ //StateChange(EnumHelper.DeviceState.DSExcept);
+ LogAsync(DateTime.Now, "鎬ュ仠鍋滄", "");
}
var ret = GTSCardAPI.GT_Stop((short)IConfig.CardNum, 1 << (axisNum - 1), option);
if (ret != (short)GTSRetCode.GRCRunOK)
@@ -868,18 +908,17 @@
{
try
{
- StartCapture:
+ Thread.CurrentThread.Priority = ThreadPriority.AboveNormal;
- PositionReset(movingOption.AxisIndex, 1);
- ClearStatus(movingOption.AxisIndex, 1);
+ var goHomePara = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == movingOption.AxisIndex).GoHomePara;
+ bool homeDirection = goHomePara.IsHomeDirPositive;
+ bool isRightLimitReached = false;
+ short capture = 0;
GTSCardAPI.TTrapPrm trapPrm;
- bool isStop = false;
- //鎼滅储璺濈 闃舵1
- // 鍚姩Home鎹曡幏
- short sRtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
+
// 鍒囨崲鍒扮偣浣嶈繍鍔ㄦā寮�
- sRtn = GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)movingOption.AxisIndex);
+ short sRtn = GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)movingOption.AxisIndex);
// 璇诲彇鐐逛綅妯″紡杩愬姩鍙傛暟
sRtn = GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out trapPrm);
trapPrm.acc = movingOption.VelocityPara.Acc;
@@ -887,76 +926,153 @@
// 璁剧疆鐐逛綅妯″紡杩愬姩鍙傛暟
sRtn = GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, ref trapPrm);
// 璁剧疆鐐逛綅妯″紡鐩爣閫熷害锛屽嵆鍥炲師鐐归�熷害
- sRtn = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)movingOption.AxisIndex, movingOption.GoHomePara.HighVelocity);
+ sRtn = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)movingOption.AxisIndex, goHomePara.HomeVelocity);
- // 璁剧疆鐐逛綅妯″紡鐩爣浣嶇疆锛屽嵆鍘熺偣鎼滅储璺濈
- sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, movingOption.GoHomePara.HomeDir == 1 ? 99999999 : -99999999);
- // 鍚姩杩愬姩
- sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
-
- int repeatTime = 1000;
- short capture;
- int pos;
- uint clk;//鏃堕挓鍙傛暟
do
{
- Thread.Sleep(20);
- // 璇诲彇鎹曡幏鐘舵��
- GTSCardAPI.GT_GetCaptureStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out capture, out pos, 1, out clk);
- isStop = IsStop((short)movingOption.AxisIndex);
- repeatTime--;
- } while (!(isStop || capture == 1 || repeatTime <= 0));
+ PositionReset(movingOption.AxisIndex, 1);
+ ClearStatus(movingOption.AxisIndex, 1);
- if (repeatTime <= 0)
- {
- MoveStop((short)movingOption.AxisIndex, 0);
- throw new ProcessException($"杩愬姩杞磠movingOption.AxisIndex} 锛屽洖鍘熺偣瓒呮椂寮傚父");
- }
+ //LogAsync(DateTime.Now, $"{Name}浣嶇疆缃浂", "");
- if (isStop && capture != 1)
- {
- ClearStatus((short)movingOption.AxisIndex, 1);
+ if (goHomePara.IsCaptureMode)
+ {
+ //鎼滅储璺濈 闃舵1
+ // 鍚姩Home鎹曡幏
+ sRtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
+ }
+
+ // 璁剧疆鐐逛綅妯″紡鐩爣浣嶇疆锛屽嵆鍘熺偣鎼滅储璺濈
+ sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, homeDirection ? 999999999 : -999999999);
+ // 鍚姩杩愬姩
+ sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
+
+ int repeatTime = goHomePara.GoHomeTimeOut * 1000;
+
+ bool isStop = false;
+ int pos = 0;
+ uint clk;//鏃堕挓鍙傛暟
+
+ int checkInterval = IConfig.MonitorInterval;
+ if (IConfig.MonitorInterval <= 0)
+ {
+ checkInterval = 10;
+ }
+
+ do
+ {
+ Thread.Sleep(checkInterval);
+
+ if (goHomePara.IsCaptureMode)
+ {
+ // 璇诲彇鎹曡幏鐘舵��
+ GTSCardAPI.GT_GetCaptureStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out capture, out pos, 1, out clk);
+ }
+ else
+ {
+ GTSCardAPI.GT_GetDi((short)IConfig.CardNum, GTSCardAPI.MC_HOME, out int pValue);
+ capture = (short)((pValue & (1 << (movingOption.AxisIndex - 1))) == 0 ? 1 : 0);
+ //LogAsync(DateTime.Now, $"鍘熺偣鐘舵�亄pValue}锛岃酱{movingOption.AxisIndex}鍘熺偣{capture}", "");
+ }
+ isStop = IsStop((short)movingOption.AxisIndex);
+ repeatTime -= checkInterval;
+ } while (!(isStop || capture == 1 || repeatTime <= 0));
+
+ if (repeatTime <= 0)
+ {
+ MoveStop((short)movingOption.AxisIndex, 0);
+ throw new ProcessException($"杩愬姩杞磠movingOption.AxisIndex} 锛屽洖鍘熺偣瓒呮椂寮傚父");
+ }
var axisStatus = AxisStatusList.FirstOrDefault(u => u.AxisIndex == movingOption.AxisIndex);
- if (((axisStatus.AxisStatus & 0x20) != 0) || ((axisStatus.AxisStatus & 0x40) != 0))
+ //if (isStop)
+ //{
+ // LogAsync(DateTime.Now, $"杞磠movingOption.AxisIndex}澶嶄綅涓仠姝�", $"Capture鐘舵�亄capture}");
+ //}
+
+ if (isStop && capture != 1)
{
- movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);
- goto StartCapture;
+ if (((axisStatus.AxisStatus & 0x20) != 0) || ((axisStatus.AxisStatus & 0x40) != 0))
+ {
+ capture = 0;
+
+ //姝ｉ檺浣�
+ if ((axisStatus.AxisStatus & 0x20) != 0)
+ {
+ homeDirection = false;
+
+ if (!goHomePara.IsCaptureDirPositive)
+ {
+ isRightLimitReached = true;
+ }
+ }
+
+ //璐熼檺浣�
+ if ((axisStatus.AxisStatus & 0x40) != 0)
+ {
+ homeDirection = true;
+
+ if (goHomePara.IsCaptureDirPositive)
+ {
+ isRightLimitReached = true;
+ }
+ }
+
+ LogAsync(DateTime.Now, $"杞磠movingOption.AxisIndex}鏋侀檺浣嶇疆鎹㈠悜", "");
+ }
+
+ ClearStatus(movingOption.AxisIndex, 1);
}
- throw new ProcessException($"杩愬姩杞磠movingOption.AxisIndex} 锛屽洖鍘熺偣瓒呮椂寮傚父");
- }
-
- if (capture == 1)
- {
- //鍏坰top
- MoveStop((short)movingOption.AxisIndex, 0);
- ClearStatus((short)movingOption.AxisIndex, 1);
- //宸茬粡鎹曡幏鍒癏ome鎵嶅彲浠ュ洖闆� 闃舵2
- // 杩愬姩鍒�"鎹曡幏浣嶇疆+鍋忕Щ閲�"
- sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, pos + movingOption.GoHomePara.HomeOffset);
- // 鍦ㄨ繍鍔ㄧ姸鎬佷笅鏇存柊鐩爣浣嶇疆
- sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
- isStop = false;
-
- repeatTime = 1000;
- do
+ if (capture == 1)
{
- Thread.Sleep(20);
- isStop = IsStop((short)movingOption.AxisIndex);
- repeatTime--;
- } while (!isStop && repeatTime > 0);
- PositionReset(movingOption.AxisIndex, 1);
- return (sRtn == (short)GTSRetCode.GRCRunOK) && isStop;
- }
+ if (!isRightLimitReached)
+ {
+ capture = 0;
+ ClearStatus(movingOption.AxisIndex, 1);
+ //GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
+ continue;
+ }
+
+ //鍏坰top
+ MoveStop((short)movingOption.AxisIndex, 0);
+ ClearStatus((short)movingOption.AxisIndex, 1);
+
+ //宸茬粡鎹曡幏鍒癏ome鎵嶅彲浠ュ洖闆� 闃舵2
+ // 杩愬姩鍒�"鎹曡幏浣嶇疆+鍋忕Щ閲�"
+ sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, pos + goHomePara.HomeOffset);
+ // 鍦ㄨ繍鍔ㄧ姸鎬佷笅鏇存柊鐩爣浣嶇疆
+ sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
+ isStop = false;
+
+ repeatTime = 1000;
+ do
+ {
+ Thread.Sleep(20);
+ isStop = IsStop((short)movingOption.AxisIndex);
+ repeatTime--;
+ } while (!isStop && repeatTime > 0);
+ PositionReset(movingOption.AxisIndex, 1);
+ LogAsync(DateTime.Now, $"杞磠movingOption.AxisIndex}澶嶄綅瀹屾垚锛屼綅缃竻闆�", "");
+
+ return (sRtn == (short)GTSRetCode.GRCRunOK) && isStop;
+ }
+
+ } while (!(capture == 1 && isRightLimitReached));
+
return false;
}
catch (Exception ex)
{
+ LogAsync(DateTime.Now, $"{Name}鍥炲師鐐瑰紓甯�", ex.GetExceptionMessage());
AllMoveStop(true);
OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
+ }
+ finally
+ {
+
}
}
@@ -1027,7 +1143,7 @@
/// <returns></returns>
public override int GetAxisStatus(int axisNum)
{
- lock (moveLock)
+ //lock (moveLock)
{
int sts = 0;
uint pclock = 0;
@@ -1050,7 +1166,7 @@
/// <returns></returns>
public override bool PositionReset(int startAxisIndex, int count)
{
- lock (moveLock)
+ //lock (moveLock)
{
var rtn = GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)startAxisIndex, (short)count);
return rtn == (short)GTSRetCode.GRCRunOK;
@@ -1081,7 +1197,6 @@
return axisMovingStatusesList;
}
-
public List<IOItem> GetMonitorValues()
{
@@ -1115,6 +1230,82 @@
return result;
}
+ SpinWait _positionWait = new SpinWait();
+ private async void MonitorPosition()
+ {
+ await Task.Run(() =>
+ {
+ while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept && CurrentState != EnumHelper.DeviceState.DSUninit)
+ {
+ try
+ {
+ if (!IConfig.IsEnableMonitor)
+ return;
+
+ AxisStatusList.ForEach(a =>
+ {
+ int curPosition = (int)GetPrfPosition(a.AxisIndex);
+
+ if (a.CurPosition != curPosition)
+ {
+ a.CurPosition = curPosition;
+ AxisPositionChanged(a.AxisIndex, curPosition);
+ }
+ });
+
+ Task.Delay(100).Wait();
+
+ //_positionWait.SpinOnce();
+ }
+ catch (Exception ex)
+ {
+ if (CurrentState == DeviceState.DSOpen)
+ {
+ LogAsync(DateTime.Now, $"{this.Name}鐩戝惉杞翠俊鎭紓甯�", ex.GetExceptionMessage());
+ }
+ }
+ }
+ });
+ }
+
+ SpinWait _statusWait = new SpinWait();
+ private async void MonitorAxisStatus()
+ {
+ await Task.Run(() =>
+ {
+ while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept && CurrentState != EnumHelper.DeviceState.DSUninit)
+ {
+ try
+ {
+ if (!IConfig.IsEnableMonitor)
+ return;
+
+ AxisStatusList.ForEach(a =>
+ {
+ int curStatus = GetAxisStatus(a.AxisIndex);
+
+ if (a.AxisStatus != curStatus)
+ {
+ int temp = a.AxisStatus;
+ a.AxisStatus = curStatus;
+ AxisStatusChanged(a.AxisIndex, temp, curStatus);
+ }
+ });
+
+ Thread.Sleep(10);
+ //Task.Delay(10).Wait();
+ }
+ catch (Exception ex)
+ {
+ if (CurrentState == DeviceState.DSOpen)
+ {
+ LogAsync(DateTime.Now, $"{this.Name}鐩戝惉杞翠俊鎭紓甯�", ex.GetExceptionMessage());
+ }
+ }
+ }
+ });
+ }
+
public async override void Monitor()
{
await Task.Run(() =>
@@ -1127,9 +1318,9 @@
return;
var newValues = GetMonitorValues();
- var newAxisMovingStatus = GetAxisMovingStatus();
+ //var newAxisMovingStatus = GetAxisMovingStatus();
- if (newValues == null || newValues.Count == 0 || newAxisMovingStatus == null || newAxisMovingStatus.Count == 0)
+ if (newValues == null || newValues.Count == 0)
continue;
//Stopwatch sw = new Stopwatch();
@@ -1143,14 +1334,14 @@
MonitorCheckAndInvoke(tempNew, tempOld);
}
- if (AxisStatusList.Count == newAxisMovingStatus.Count)
- {
- var tempNew = new List<AxisMovingStatus>(newAxisMovingStatus);//clone
- var tempOld = new List<AxisMovingStatus>(AxisStatusList);
- AxisStatusCheck(tempNew, tempOld);
- }
+ //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);
+ //AxisStatusList = new List<AxisMovingStatus>(newAxisMovingStatus);
MonitorValues = new List<IOItem>(newValues);
//sw.Stop();
@@ -1282,10 +1473,16 @@
int axis_sts;
var axisSettings = IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled);
ClearStatus(1, axisSettings.Count);
+
+ if (AxisStatusList.Count == 0)
+ {
+ Thread.Sleep(10);
+ }
+
foreach (var axisSetting in axisSettings)
{
//axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
- axis_sts = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex).AxisStatus;
+ axis_sts = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex)?.AxisStatus ?? 0;
if ((axis_sts & 0x200) == 0)
{
var rst = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisSetting.AxisIndex);
--
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