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 | 732 ++++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 626 insertions(+), 106 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index a51429e..e96d00c 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -1,27 +1,59 @@
锘縰sing Bro.Common.Base;
+using Bro.Common.Helper;
using Bro.Common.Interface;
using Bro.Common.Model;
using System;
+using System.Collections.Concurrent;
using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Drawing;
using System.Linq;
using System.Text;
+using System.Threading;
using System.Threading.Tasks;
+using static Bro.Common.Helper.EnumHelper;
namespace Bro.Device.GTSCard
{
- public class GTSCardDriver : DeviceBase,IMonitor, IMotion
+ [Device("GTSCard", "鍥洪珮鏉垮崱", EnumHelper.DeviceAttributeType.Device)]
+ public class GTSCardDriver : DeviceBase, IMonitor, IMotion
{
public event Action<DateTime, string, IDevice, MonitorSet> OnMonitorInvoke;
public event Action<DateTime, IDevice, WarningSet> OnMonitorAlarm;
+
+ public delegate bool OnAxisStartToCheckDelegate(int axisIndex, int startPosition, int endPosition);
+ // 寮傚父浜嬩欢
+ public Action<Exception> OnExceptionRaised;
+
+ public GTSCardInitialConfig IConfig
+ {
+ get
+ {
+ return InitialConfig as GTSCardInitialConfig;
+ }
+ }
+
+ static object moveLock = new object();
+ /// <summary>
+ /// 鏄惁澶嶄綅鏍囧織
+ /// </summary>
+ bool _isResetting = false;
+
+ public void SetResetFlag(bool isReset)
+ {
+ _isResetting = isReset;
+ }
public List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
{
throw new NotImplementedException();
}
+ #region DeviceBase
+
protected override void Init()
{
- throw new NotImplementedException();
+ InitialMotionCard();
}
protected override void Pause()
@@ -36,50 +68,552 @@
protected override void Start()
{
- throw new NotImplementedException();
+ AllAxisOn();
}
protected override void Stop()
{
- throw new NotImplementedException();
+ AllMoveStop();
+ AllAxisOff();
+ }
+ #endregion
+
+ #region GTSCard
+
+ /// <summary>
+ /// Load Motion Card parameter from file
+ /// </summary>
+ /// <param name="fileName">Invalid Parameter</param>
+ /// <returns></returns>
+ public void InitialMotionCard()
+ {
+ 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);
+ 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()
+ {
+ 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>
- /// 鐐逛綅鍒扮偣浣� 杩愬姩
+ /// 鍗曚釜杞村紑鍚�
/// </summary>
- /// <param name="cardNum">鍗″彿</param>
- /// <param name="axisNum">杞村彿</param>
- /// <param name="prfPosition">瑙勫垝浣嶇疆,鍗曚綅姣背</param>
- /// <param name="prfVelocity">瑙勫垝閫熷害,鍗曚綅绫虫瘡绉�</param>
- public void P2P(short cardNum, short axisNum, int prfPosition, int prfVelocity)
+ /// <returns></returns>
+ public async Task<bool> AxisOnAsync(short cardNum, short axisNum)
{
- GTSCardAPI.TTrapPrm trapprm;
- GTSCardAPI.GT_PrfTrap(cardNum, axisNum);
- GTSCardAPI.GT_GetTrapPrm(cardNum, axisNum, out trapprm);
- trapprm.acc = GTSCardParameter.P2PAcc;
- trapprm.dec = GTSCardParameter.P2PDec;
+ 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>
+ /// <param name="item">杩愬姩瀵硅薄</param>
+ /// <returns>杩愬姩鎺у埗+鍋滄鍒ゆ柇</returns>
+ public bool 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)
+ {
+ //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>
+ /// 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 = 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;
- GTSCardAPI.GT_SetTrapPrm(cardNum, axisNum, ref trapprm);
- GTSCardAPI.GT_SetPos(cardNum, axisNum, prfPosition * GTSCardParameter.Dangliang);
- GTSCardAPI.GT_SetVel(cardNum, axisNum, prfVelocity * GTSCardParameter.Dangliang);
- GTSCardAPI.GT_Update(cardNum, 1 << (axisNum - 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));
+
+ var resultOK = resultCode.All(u => u == (short)GTSRetCode.GRCRunOK);
+ if (!resultOK)
+ {
+ throw new Exception("杞�" + optionPara.AxisIndex + "璁剧疆鍙傛暟寮傚父锛岄敊璇爜锛�" + string.Join(",", resultCode));
+ }
+ return resultOK;
}
/// <summary>
- /// Jog杩愬姩
+ /// 鍗曚釜杞� 杩愬姩(鐐瑰埌鐐� jog 鍥為浂...锛�
/// </summary>
- /// <param name="cardNum"></param>
- /// <param name="axisNum"></param>
- /// <param name="velocity">瑙勫垝閫熷害锛屽崟浣嶇背姣忕</param>
- public void Jog(short cardNum, short axisNum, double velocity)
+ /// <param name="optionPara">杩愬姩鍙傛暟瀵硅薄</param>
+ public async Task<bool> SingleAxisMoving(MovingOption optionPara)
{
- GTSCardAPI.TJogPrm jogprm = new GTSCardAPI.TJogPrm();
- short rtn = GTSCardAPI.GT_PrfJog(cardNum, axisNum);
- jogprm.acc = 1;
- jogprm.dec = 1;
- GTSCardAPI.GT_SetJogPrm(cardNum, axisNum, ref jogprm);//璁剧疆jog杩愬姩鍙傛暟
- GTSCardAPI.GT_SetVel(cardNum, axisNum, velocity);//璁剧疆鐩爣閫熷害
- GTSCardAPI.GT_Update(cardNum, 1 << (axisNum - 1));//鏇存柊杞磋繍鍔�
+ return await Task.Run(() =>
+ {
+ bool isSuccessAndStop = false;
+ if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
+ {
+ 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:
+ {
+ 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 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);
+ }
+ return isSuccessAndStop;
+ });
+ }
+
+ /// <summary>
+ /// 鑾峰彇瑙勫垝浣嶇疆锛堣鍘荤殑浣嶇疆锛�
+ /// </summary>
+ /// <param name="axisNum">Axis number</param>
+ /// <returns></returns>
+ public double GetPrfPosition(int axisNum)
+ {
+ lock (moveLock)
+ {
+ double position = 0;
+ double prfpos = 0; uint pclock = 0;
+ var ret = GTSCardAPI.GT_GetPrfPos((short)IConfig.CardNum, (short)axisNum, out prfpos, 1, out pclock);
+ if (ret != (short)GTSRetCode.GRCRunOK)
+ {
+ 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;
+ return position;
+ }
+ }
+
+ /// <summary>
+ /// 鑾峰彇鐩墠褰撳墠浣嶇疆
+ /// </summary>
+ /// <param name="axisNum">Axis number</param>
+ /// <returns></returns>
+ public double GetPosition(int axisNum)
+ {
+ lock (moveLock)
+ {
+ double position = 0;
+ int pPos = 0;
+ var ret = GTSCardAPI.GT_GetPos((short)IConfig.CardNum, (short)axisNum, out pPos);
+ if (ret != (short)GTSRetCode.GRCRunOK)
+ {
+ 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;
+ return position;
+ }
+ }
+
+
+ /// <summary>
+ /// Set Single Axis Do Jog Move
+ /// </summary>
+ /// <param name="axisNum">AxisNo</param>
+ /// <param name="nDirection">Motion Direction 0: Negative, 1: Positive</param>
+ /// <param name="nMaxVel">max velocity</param>
+ /// <returns></returns>
+ public bool JogMove(MovingOption optionPara)
+ {
+ 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;
+ }
+
+ }
+
+ /// <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>
+ /// 鐩稿浣嶇疆杩愬姩
+ /// </summary>
+ /// <param name="axisNum">AxisNo</param>
+ /// <param name="nDistance">run distance</param>
+ /// <returns></returns>
+ public bool P2PMoveRel(MovingOption optionPara)
+ {
+ try
+ {
+ 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");
+ throw new Exception("杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄥ浣嶈繃绋嬩腑杩愬姩");
+ }
+
+ int repeatTime = 30;
+ while (CurrentState != EnumHelper.DeviceState.DSOpen && repeatTime > 0)
+ {
+ Thread.Sleep(10);
+ repeatTime--;
+ }
+
+ if (CurrentState == EnumHelper.DeviceState.DSExcept)
+ {
+ LogAsync(DateTime.Now, "鏉垮崱寮傚父鐘舵��", "杞�" + optionPara.AxisIndex + "璇曞浘寮傚父鐘舵�佽繍鍔�");
+ return false;
+ }
+
+ 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 Exception("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;
+ 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
+
+ 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 && !isSuccessSetAxisParam && repeatTime > 0);
+
+ //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);
+ Thread.Sleep(50);
+ repeatTime--;
+ } while (!isStop && repeatTime > 0);
+
+ return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
+ }
+ catch (Exception ex)
+ {
+ AllMoveStop(true);
+ OnExceptionRaised?.Invoke(ex);
+ return false;
+ }
+ }
+
+ /// <summary>
+ /// 缁濆浣嶇疆杩愬姩
+ /// </summary>
+ /// <param name="optionPara">杩愬姩鍙傛暟瀵硅薄</param>
+ public bool P2PMoveAbs(MovingOption optionPara)
+ {
+ try
+ {
+ 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");
+ throw new Exception("杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄥ浣嶈繃绋嬩腑杩愬姩");
+ }
+ int repeatTime = 30;
+ while (CurrentState != EnumHelper.DeviceState.DSOpen && repeatTime > 0)
+ {
+ Thread.Sleep(10);
+ repeatTime--;
+ }
+ if (CurrentState == EnumHelper.DeviceState.DSExcept)
+ {
+ LogAsync(DateTime.Now, "鏉垮崱寮傚父鐘舵��", "杞�" + optionPara.AxisIndex + "璇曞浘寮傚父鐘舵�佽繍鍔�");
+ return false;
+ }
+
+ 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 Exception("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;
+ 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
+
+ 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 && !isSuccessSetAxisParam && repeatTime > 0);
+
+ bool isStop = false;
+ repeatTime = 1000;
+ do
+ {
+ isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
+ Thread.Sleep(50);
+ repeatTime--;
+ } while (!isStop && repeatTime > 0);
+
+ return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
+ }
+ catch (Exception ex)
+ {
+ AllMoveStop(true);
+ OnExceptionRaised?.Invoke(ex);
+ return false;
+ }
+ }
+
+ /// <summary>
+ /// 杩愬姩鍋滄
+ /// </summary>
+ /// <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)
+ {
+ return await Task.Run(() =>
+ {
+ 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 =>
+ {
+ var task = MoveStop(axisNum.AxisIndex, option);
+ taskList.Add(task);
+ });
+ Task.WaitAll(taskList.ToArray());
+ var resultOK = taskList.All(u => u.GetAwaiter().GetResult());
+ }
+
+ /// <summary>
+ /// 鍥炲師鐐�
+ /// </summary>
+ /// <param name="movingOption">鍗″彿</param>
+ /// <param name="axisn">杞村彿</param>
+ /// <param name="homests">杞村洖鍘熺偣鐘舵��</param>
+ public bool GoHome(MovingOption movingOption)
+ {
+ try
+ {
+ GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);
+ GTSCardAPI.THomePrm thomeprm;
+ GTSCardAPI.THomeStatus homests;
+ short rtn = GTSCardAPI.GT_GetHomePrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out thomeprm);
+ thomeprm.mode = movingOption.GoHomePara.HomeMode;//鍥為浂鏂瑰紡
+ thomeprm.moveDir = movingOption.GoHomePara.HomeDir;//鍥為浂鏂瑰悜
+ thomeprm.edge = movingOption.GoHomePara.Edge;
+ thomeprm.velHigh = movingOption.GoHomePara.HighVelocity;
+ thomeprm.velLow = movingOption.GoHomePara.LowVelocity;
+ thomeprm.acc = movingOption.VelocityPara.Acc;
+ thomeprm.dec = movingOption.VelocityPara.Dec;
+ thomeprm.searchHomeDistance = movingOption.GoHomePara.SearchHomeDistance;//鎼滄悳璺濈
+ thomeprm.homeOffset = movingOption.GoHomePara.HomeOffset; //鍋忕Щ璺濈
+ thomeprm.escapeStep = movingOption.GoHomePara.EscapeStep;
+ rtn = GTSCardAPI.GT_GoHome((short)IConfig.CardNum, (short)movingOption.AxisIndex, ref thomeprm); //鍚姩鍥為浂
+
+ bool isStop = false;
+ int repeatTime = 1000;
+ do
+ {
+ Thread.Sleep(10);
+ GTSCardAPI.GT_GetHomeStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out homests);
+
+ isStop = homests.run == 0;
+ if (isStop && homests.error == 0)
+ {
+ Thread.Sleep(200);
+ GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);
+ }
+ repeatTime--;
+ } while (!isStop && repeatTime > 0);
+
+ return isStop;
+ }
+ catch (Exception ex)
+ {
+ AllMoveStop(true);
+ OnExceptionRaised?.Invoke(ex);
+ return false;
+ }
}
/// <summary>
@@ -99,36 +633,20 @@
/// <summary>
/// 杈撳嚭
/// </summary>
- /// <param name="cardNumo">鍗″彿</param>
+ /// <param name="cardNum">鍗″彿</param>
/// <param name="index">杈撳嚭鍙�,杩斿洖1-16</param>
- /// <param name="value">0琛ㄧず杈撳嚭锛�1琛ㄧず鍏抽棴</param>
- public void WriteOut(short cardNumo, short index, bool value)
+ /// <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)
{
short outNum = (short)(index % 100 + 1);
- switch (value)
+ if (value)
{
- case true:
- {
- GTSCardAPI.GT_SetDoBit(cardNumo, GTSCardAPI.MC_GPO, outNum, 0);//鎸変綅杈撳嚭锛�0琛ㄧず杈撳嚭锛�1琛ㄧず鍏抽棴
- }
- break;
- case false:
- {
- GTSCardAPI.GT_SetDoBit(cardNumo, GTSCardAPI.MC_GPO, outNum, 1);//鎸変綅杈撳嚭锛�0琛ㄧず杈撳嚭锛�1琛ㄧず鍏抽棴
- }
- break;
+ GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 0);
}
- }
-
- /// <summary>
- /// 鍋滄 鏌愪釜杞�
- /// </summary>
- /// <param name="cardNum"></param>
- /// <param name="axisNum"></param>
- /// <param name="option">0琛ㄧず骞虫粦鍋滄锛�1琛ㄧず绱ф�ュ仠姝�</param>
- public void Stop(short cardNum, short axisNum, short option)
- {
- GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), option);
+ else
+ {
+ GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 1);
+ }
}
/// <summary>
@@ -137,34 +655,15 @@
/// <param name="cardNum"></param>
/// <param name="axisNum">杞村彿</param>
/// <param name="value">鍋滄鏂瑰紡锛宖alse琛ㄧず骞虫粦鍋滄锛宼rue琛ㄧず绱ф�ュ仠姝�</param>
- public void Stop(short cardNum, short axisNum, bool value)
+ public void Stop(short cardNum, short axisNum, bool emergencyStop)
{
- switch (value)
+ if (emergencyStop)
{
- case false:
- {
- GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 0);
- }
- break;
- case true:
- {
- GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 1 << (axisNum - 1));
-
- }
- break;
+ GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 1 << (axisNum - 1));
}
- }
-
- /// <summary>
- /// 鍋滄 鍏ㄩ儴杞�
- /// </summary>
- /// <param name="cardNum"></param>
- /// <param name="value">鍋滄鏂瑰紡锛宖alse琛ㄧず骞虫粦鍋滄锛宼rue琛ㄧず绱ф�ュ仠姝�</param>
- public void StopAll(short cardNum, bool value)
- {
- for (short i = 1; i <= GTSCardParameter.AxisCount; i++)
+ else
{
- Stop(cardNum, i, value);
+ GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 0);
}
}
@@ -190,47 +689,28 @@
/// <summary>
/// 璇诲彇IO杈撳嚭鐘舵��
/// </summary>
- /// <param name="cardNumo"></param>
+ /// <param name="cardNum"></param>
/// <param name="index"></param>
/// <returns></returns>
- public bool GetDoSts(short cardNumo, short index)
+ public bool GetDoSts(short cardNum, short index)
{
short outNum = 0;
int outSts;
outNum = (short)(index % 100);
- GTSCardAPI.GT_GetDo(cardNumo, GTSCardAPI.MC_GPO, out outSts);
+ GTSCardAPI.GT_GetDo(cardNum, GTSCardAPI.MC_GPO, out outSts);
if ((outSts & (1 << outNum)) == 0) return true;
else return false;
- }
-
- static object lockObj = new object();
-
-
- /// <summary>
- /// 璇诲彇褰撳墠鍊�
- /// </summary>
- /// <param name="cardNum">鍗″彿</param>
- /// <param name="axisNum">杞村彿</param>
- /// <returns>杩斿洖褰撳墠鍊硷紝鍗曚綅姣背</returns>
- public double GetPosMM(short cardNum, short axisNum)
- {
- lock (lockObj)
- {
- double prfpos = 0; uint pclock = 0;
- GTSCardAPI.GT_GetPrfPos(cardNum, axisNum, out prfpos, 1, out pclock);
- return prfpos / GTSCardParameter.Dangliang;
- }
}
/// <summary>
/// 璇诲彇杞寸姸鎬侊紝鍒ゆ柇鐢垫満鏄惁鍋滄
/// </summary>
- /// <param name="cardNum"></param>
- /// <param name="axisNum"></param>
+ /// <param name="cardNum">鏉垮崱鍙�</param>
+ /// <param name="axisNum">杞村彿</param>
/// <returns></returns>
public bool IsStop(short cardNum, short axisNum)
{
- lock (lockObj)
+ lock (moveLock)
{
int sts = 0;
uint pclock = 0;
@@ -240,6 +720,8 @@
}
}
+ #endregion
+
public void Monitor()
{
throw new NotImplementedException();
@@ -247,7 +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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