From 328d4212fdacd1d6b3a907d680f7b26fb06cf888 Mon Sep 17 00:00:00 2001
From: xcd <834800634@qq.com>
Date: 星期二, 30 六月 2020 16:23:11 +0800
Subject: [PATCH] Merge branch 'master' of http://gitblit.broconcentric.com:8088/r/M071
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 321 +++++++++++++++++++++++++++++++++++++----------------
1 files changed, 222 insertions(+), 99 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index ffe11a6..e96d00c 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -33,29 +33,6 @@
}
}
- static Dictionary<int, object> axisMoveLockDict = new Dictionary<int, object>();
-
- /// <summary>
- /// 杞磋繍鍔ㄥ紑濮嬫椂鐨勬娴嬶紝true:鏈夊啿绐� 涓嶅彲缁х画鎵ц false锛氭棤鍐茬獊,鍙户缁墽琛�
- /// </summary>
- public event OnAxisStartToCheckDelegate OnAxisStartToCheckConfliction;
- /// <summary>
- /// 鏆傚仠锛堢嚎绋嬪悓姝ヤ簨浠讹級
- /// </summary>
- Dictionary<int, ManualResetEvent> axisImmediatePauseHandleDict = new Dictionary<int, ManualResetEvent>();
- Dictionary<int, CancellationTokenSource> axisMoveCancelDict = new Dictionary<int, CancellationTokenSource>();
- /// <summary>
- /// 杩愯杩囩▼涓殑绾跨▼绛夊緟
- /// </summary>
- private Dictionary<int, ManualResetEvent> runningEventDic = new Dictionary<int, ManualResetEvent>();
- private Dictionary<int, AutoResetEvent> axisMovingHandleDict = new Dictionary<int, AutoResetEvent>();
- private ConcurrentDictionary<int, int> axisDestination = new ConcurrentDictionary<int, int>();
-
- private ObservableCollection<int> _commandAxisList = new ObservableCollection<int>();
- public Action<bool> CommandAxisCountChangedAction = null;
- private Dictionary<int, VelocityPara> velIndexDict = new Dictionary<int, VelocityPara>();
- ManualResetEvent _pauseHandle = new ManualResetEvent(true);
-
static object moveLock = new object();
/// <summary>
/// 鏄惁澶嶄綅鏍囧織
@@ -79,7 +56,6 @@
InitialMotionCard();
}
-
protected override void Pause()
{
throw new NotImplementedException();
@@ -92,12 +68,13 @@
protected override void Start()
{
- throw new NotImplementedException();
+ AllAxisOn();
}
protected override void Stop()
{
- throw new NotImplementedException();
+ AllMoveStop();
+ AllAxisOff();
}
#endregion
@@ -119,6 +96,60 @@
}
}
+ public 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 =>
+ {
+ var task = AxisOnAsync((short)IConfig.CardNum, (short)axisNum.AxisIndex);
+ taskList.Add(task);
+ });
+ Task.WaitAll(taskList.ToArray());
+ var resultOK = taskList.All(u => u.GetAwaiter().GetResult());
+ return resultOK;
+ }
+
+ public 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 =>
+ {
+ var task = AxisOffAsync((short)IConfig.CardNum, (short)axisNum.AxisIndex);
+ taskList.Add(task);
+ });
+ Task.WaitAll(taskList.ToArray());
+ var resultOK = taskList.All(u => u.GetAwaiter().GetResult());
+ return resultOK;
+ }
+
+ /// <summary>
+ /// 鍗曚釜杞村紑鍚�
+ /// </summary>
+ /// <returns></returns>
+ public async Task<bool> AxisOnAsync(short cardNum, short axisNum)
+ {
+ return await Task.Run(() =>
+ {
+ var ret = GTSCardAPI.GT_AxisOn(cardNum, axisNum);
+ return ret == (short)GTSRetCode.GRCRunOK;
+ });
+ }
+
+ /// <summary>
+ /// 鍗曚釜杞村叧闂�
+ /// </summary>
+ /// <returns></returns>
+ public async Task<bool> AxisOffAsync(short cardNum, short axisNum)
+ {
+ return await Task.Run(() =>
+ {
+ var ret = GTSCardAPI.GT_AxisOff(cardNum, axisNum);
+ return ret == (short)GTSRetCode.GRCRunOK;
+ });
+ }
+
/// <summary>
/// 鐐逛綅鍒扮偣浣嶈繍鍔�
/// </summary>
@@ -128,22 +159,33 @@
{
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)
{
- resultOK = SingleAxisMoving(movingOp);
+ //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());
+
return resultOK;
}
/// <summary>
- /// Set AxisParam
+ /// 鐐瑰埌鐐硅繍鍔ㄨ缃弬鏁�
/// </summary>
/// <param name="optionPara">杩愬姩鍙傛暟瀵硅薄</param>
/// <returns></returns>
private bool SetAxisParam(MovingOption optionPara)
{
List<short> resultCode = new List<short>() { 0 };
- GTSCardAPI.TTrapPrm trapprm;
+ 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));
trapprm.smoothTime = 1;
@@ -162,54 +204,59 @@
}
/// <summary>
- /// 鍗曚釜杞� 鐐逛綅鍒扮偣浣嶈繍鍔�
+ /// 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 bool SingleAxisMoving(MovingOption optionPara)
+ public async Task<bool> SingleAxisMoving(MovingOption optionPara)
{
- bool isSuccessAndStop = false;
- if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
+ return await Task.Run(() =>
{
- 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)
+ bool isSuccessAndStop = false;
+ if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
{
- case MotorMoveMode.Normal:
- {
- if (_isResetting)
+ 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)
+ {
+ case MotorMoveMode.Normal:
{
- 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;
- }
- //璁剧疆 杩愬姩鍙傛暟
- var isSuccess = SetAxisParam(optionPara);
- if (isSuccess)
- {
+ 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 = MoveAbs(optionPara);
+ isSuccessAndStop = P2PMoveAbs(optionPara);
}
else
{
- isSuccessAndStop = MoveRel(optionPara);
+ isSuccessAndStop = P2PMoveRel(optionPara);
}
+
}
- }
- break;
- case MotorMoveMode.FindOri:
- {
- isSuccessAndStop = GoHome(optionPara);
- }
- break;
+ break;
+ case MotorMoveMode.FindOri:
+ {
+ isSuccessAndStop = GoHome(optionPara);
+ }
+ break;
+ case MotorMoveMode.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);
- }
- return isSuccessAndStop;
+ return isSuccessAndStop;
+ });
}
/// <summary>
@@ -262,21 +309,38 @@
/// <param name="nDirection">Motion Direction 0: Negative, 1: Positive</param>
/// <param name="nMaxVel">max velocity</param>
/// <returns></returns>
- public bool StartJog(int axisNum, int nDirection, int velocity)
+ public bool JogMove(MovingOption optionPara)
{
- GTSCardAPI.TJogPrm jogprm = new GTSCardAPI.TJogPrm();
- short rtn = GTSCardAPI.GT_PrfJog((short)IConfig.CardNum, (short)axisNum);
- jogprm.acc = 1;
- jogprm.dec = 1;
- GTSCardAPI.GT_SetJogPrm((short)IConfig.CardNum, (short)axisNum, ref jogprm);//璁剧疆jog杩愬姩鍙傛暟
- GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)axisNum, velocity);//璁剧疆鐩爣閫熷害
- int ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (axisNum - 1));//鏇存柊杞磋繍鍔�
-
- if (ret != (int)GTSRetCode.GRCRunOK)
+ try
{
+ GTSCardAPI.TJogPrm jogprm = new GTSCardAPI.TJogPrm();
+ short ret = 0;
+ int repeatTime = 100;
+ do
+ {
+ ret = GTSCardAPI.GT_PrfJog((short)IConfig.CardNum, (short)optionPara.AxisIndex);
+ jogprm.acc = optionPara.VelocityPara.Acc;
+ jogprm.dec = optionPara.VelocityPara.Dec;
+ ret = GTSCardAPI.GT_SetJogPrm((short)IConfig.CardNum, (short)optionPara.AxisIndex, ref jogprm);//璁剧疆jog杩愬姩鍙傛暟
+ ret = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)optionPara.AxisIndex, optionPara.VelocityPara.Velocity);//璁剧疆鐩爣閫熷害
+ ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//鏇存柊杞磋繍鍔�
+
+ 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);
+ }
+ repeatTime--;
+ } while (ret != (short)GTSRetCode.GRCRunOK && repeatTime > 0);
+ return (ret == (short)GTSRetCode.GRCRunOK);
+ }
+ catch (Exception ex)
+ {
+ AllMoveStop(true);
+ OnExceptionRaised?.Invoke(ex);
return false;
}
- return true;
+
}
/// <summary>
@@ -307,7 +371,7 @@
/// <param name="axisNum">AxisNo</param>
/// <param name="nDistance">run distance</param>
/// <returns></returns>
- public bool MoveRel(MovingOption optionPara)
+ public bool P2PMoveRel(MovingOption optionPara)
{
try
{
@@ -338,11 +402,14 @@
LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "寮�濮嬭繍鍔�", "鐩爣鍧愭爣锛�" + optionPara.Destination);
short ret = 0;
- repeatTime = 1000;
+ repeatTime = 100;
+ bool isSuccessSetAxisParam = false;
int currentPosition = (int)GetPosition(optionPara.AxisIndex);
int dPosition = optionPara.Destination + currentPosition;
do
{
+ //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_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//鏇存柊杩愬姩
@@ -352,7 +419,7 @@
Thread.Sleep(50);
}
repeatTime--;
- } while (ret != (short)GTSRetCode.GRCRunOK && repeatTime > 0);
+ } while (ret != (short)GTSRetCode.GRCRunOK && !isSuccessSetAxisParam && repeatTime > 0);
//杩愬姩寮�濮嬪悗 妫�鏌ヨ繍鍔ㄦ槸鍚﹀仠姝�
bool isStop = false;
@@ -378,7 +445,7 @@
/// 缁濆浣嶇疆杩愬姩
/// </summary>
/// <param name="optionPara">杩愬姩鍙傛暟瀵硅薄</param>
- public bool MoveAbs(MovingOption optionPara)
+ public bool P2PMoveAbs(MovingOption optionPara)
{
try
{
@@ -406,9 +473,12 @@
}
LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "寮�濮嬭繍鍔�", "鐩爣鍧愭爣锛�" + optionPara.Destination);
short ret = 0;
- repeatTime = 1000;
+ repeatTime = 100;
+ bool isSuccessSetAxisParam = false;
do
{
+ //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_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//鏇存柊杩愬姩
@@ -418,7 +488,7 @@
Thread.Sleep(50);
}
repeatTime--;
- } while (ret != (short)GTSRetCode.GRCRunOK && repeatTime > 0);
+ } while (ret != (short)GTSRetCode.GRCRunOK && !isSuccessSetAxisParam && repeatTime > 0);
bool isStop = false;
repeatTime = 1000;
@@ -445,36 +515,53 @@
/// <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 void MoveStop(int axisNum, int option)
+ public async Task<bool> MoveStop(int axisNum, int option)
{
- if (option == 1)
+ return await Task.Run(() =>
{
- StateChange(EnumHelper.DeviceState.DSExcept);
- }
- var ret = GTSCardAPI.GT_Stop((short)IConfig.CardNum, 1 << (axisNum - 1), option);
- if (ret != (short)GTSRetCode.GRCRunOK)
- {
- LogAsync(DateTime.Now, "杞�" + axisNum + "杩愬姩鍋滄寮傚父", "閿欒鐮侊細" + ret);
- throw new Exception("杞�" + axisNum + "杩愬姩鍋滄寮傚父锛岄敊璇爜锛�" + ret);
- }
- else
- {
- LogAsync(DateTime.Now, "杞�" + axisNum + "杩愬姩鍋滄", "");
- }
+ bool isStop = false;
+ if (option == 1)
+ {
+ StateChange(EnumHelper.DeviceState.DSExcept);
+ }
+ var ret = GTSCardAPI.GT_Stop((short)IConfig.CardNum, 1 << (axisNum - 1), option);
+ if (ret != (short)GTSRetCode.GRCRunOK)
+ {
+ LogAsync(DateTime.Now, "杞�" + axisNum + "杩愬姩鍋滄寮傚父", "閿欒鐮侊細" + ret);
+ throw new Exception("杞�" + axisNum + "杩愬姩鍋滄寮傚父锛岄敊璇爜锛�" + ret);
+ }
+ else
+ {
+ LogAsync(DateTime.Now, "杞�" + axisNum + "杩愬姩鍋滄", "");
+ }
+ int repeatTime = 100;
+ do
+ {
+ isStop = IsStop((short)IConfig.CardNum, (short)axisNum);
+ Thread.Sleep(10);
+ repeatTime--;
+ } while (!isStop && repeatTime > 0);
+
+ return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
+ });
}
/// <summary>
- /// 鎵�鏈夊紑鍚殑杞村叧闂�
+ /// 鎵�鏈夊紑鍚殑杞村仠姝�
/// </summary>
/// <param name="emergencyStop"></param>
public void AllMoveStop(bool emergencyStop = false)
{
int option = emergencyStop ? 1 : 0;
-
+ List<Task<bool>> taskList = new List<Task<bool>>(); ;
+ // 濡傛灉鏄涓酱鐨勮繍鍔� 绛夋瘡涓酱杩愬姩缁撴潫
IConfig.AxisSettings.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>
{
- MoveStop(axisNum.AxisIndex, option);
+ var task = MoveStop(axisNum.AxisIndex, option);
+ taskList.Add(task);
});
+ Task.WaitAll(taskList.ToArray());
+ var resultOK = taskList.All(u => u.GetAwaiter().GetResult());
}
/// <summary>
@@ -642,9 +729,45 @@
public void ResetAlarm()
{
- throw new NotImplementedException();
- }
+ int axis_sts;
+ uint clk;
+ var axisSettings = IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled);
+ GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, 1, (short)axisSettings.Count);
+ foreach (var axisSetting in axisSettings)
+ {
+ GTSCardAPI.GT_GetSts((short)IConfig.CardNum, (short)axisSetting.AxisIndex, out axis_sts, 1, out clk);
+ 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);
+ // 姝ｆ瀬闄愭姤璀�
+ if ((axis_sts & 0x20) != 0)
+ {
+ // 璐熷悜绉诲姩
+ MovingOption movingOption = new MovingOption();
+ movingOption.AxisIndex = (short)axisSetting.AxisIndex;
+ movingOption.Destination = -50; // 璐熷悜绉诲姩
+ movingOption.VelocityPara.Velocity = 50;
+ P2PMoveAbs(movingOption);
+ }
+ // 璐熸瀬闄愭姤璀�
+ if ((axis_sts & 0x40) != 0)
+ {
+ // 姝ｅ悜绉诲姩
+ MovingOption movingOption = new MovingOption();
+ movingOption.AxisIndex = (short)axisSetting.AxisIndex;
+ movingOption.Destination = 50; // 璐熷悜绉诲姩
+ movingOption.VelocityPara.Velocity = 50;
+ P2PMoveAbs(movingOption);
+ }
+ }
+
+ // 娓呴櫎鐘舵��
+ GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, 1, (short)IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled).Count);
+ }
}
}
--
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