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 | 86 +++++++++++++++++++++++++++++-------------
1 files changed, 59 insertions(+), 27 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index dbea577..14b4c25 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -312,7 +312,6 @@
}
}
-
public override bool AllAxisOn()
{
List<Task<bool>> taskList = new List<Task<bool>>(); ;
@@ -387,7 +386,7 @@
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;
@@ -400,24 +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)
{
@@ -427,9 +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);
@@ -646,7 +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);
@@ -725,8 +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;
@@ -760,7 +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)
{
@@ -783,7 +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)
@@ -981,18 +998,26 @@
capture = 0;
//姝ｉ檺浣�
- if ((axisStatus.AxisStatus & 0x20) != 0 && !goHomePara.IsCaptureDirPositive)
+ if ((axisStatus.AxisStatus & 0x20) != 0)
{
- isRightLimitReached = true;
+ homeDirection = false;
+
+ if (!goHomePara.IsCaptureDirPositive)
+ {
+ isRightLimitReached = true;
+ }
}
//璐熼檺浣�
- if ((axisStatus.AxisStatus & 0x40) != 0 && goHomePara.IsCaptureDirPositive)
+ if ((axisStatus.AxisStatus & 0x40) != 0)
{
- isRightLimitReached = true;
- }
+ homeDirection = true;
- homeDirection = !homeDirection;
+ if (goHomePara.IsCaptureDirPositive)
+ {
+ isRightLimitReached = true;
+ }
+ }
LogAsync(DateTime.Now, $"杞磠movingOption.AxisIndex}鏋侀檺浣嶇疆鎹㈠悜", "");
}
@@ -1044,6 +1069,10 @@
AllMoveStop(true);
OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
+ }
+ finally
+ {
+
}
}
@@ -1224,7 +1253,9 @@
}
});
- _positionWait.SpinOnce();
+ Task.Delay(100).Wait();
+
+ //_positionWait.SpinOnce();
}
catch (Exception ex)
{
@@ -1261,7 +1292,8 @@
}
});
- _statusWait.SpinOnce();
+ Thread.Sleep(10);
+ //Task.Delay(10).Wait();
}
catch (Exception ex)
{
--
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