From 4bc5ee48e537d56190c943330f0093562912fb4f Mon Sep 17 00:00:00 2001
From: wells <123>
Date: 星期六, 11 七月 2020 12:25:33 +0800
Subject: [PATCH] io索引问题
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 79 +++++++++++++++++++++++++++++----------
1 files changed, 58 insertions(+), 21 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index ef7a20d..a25b5bf 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -21,7 +21,7 @@
public class GTSCardDriver : MotionCardBase
{
// 寮傚父浜嬩欢
- public Action<Exception> OnExceptionRaised;
+ //public Action<Exception> OnExceptionRaised;
public GTSCardInitialConfig IIConfig
{
@@ -61,7 +61,7 @@
{
AxisInfo axisInfo = new AxisInfo();
axisInfo.AxisName = axisSetting.AxisName;
- var axisMovingStatus = AxisMovingOptionValues.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex);
+ var axisMovingStatus = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex);
axisInfo.AxisLocation = axisMovingStatus == null ? 0 : Convert.ToDouble(axisMovingStatus.CurPosition);
axisInfos.Add(axisInfo);
@@ -96,6 +96,8 @@
protected override void Start()
{
AllAxisOn();
+
+ base.Start();
}
protected override void Stop()
@@ -554,7 +556,7 @@
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -635,7 +637,7 @@
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -710,7 +712,7 @@
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -817,7 +819,7 @@
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -854,10 +856,10 @@
/// 鎸変綅璁剧疆鏁板瓧 IO 杈撳嚭鐘舵��
/// </summary>
/// <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>
+ /// <param name="value">false琛ㄧず鍏筹紝true琛ㄧず寮�锛屾澘鍗¤璁剧疆鍙栧弽</param>
public override void WriteOutput(short index, IOValue value)
{
- short outNum = (short)(index % 100);
+ short outNum = (short)(index % 100 + 1);
if ((int)value <= 1)
{
GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)value);
@@ -877,7 +879,7 @@
/// <returns></returns>
public bool IsStop(short axisNum)
{
- int sts = GetAxisStatus(axisNum);
+ int sts = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisNum).AxisStatus;
if ((sts & 0x400) == 0) return true;//鍋滄杩斿洖true
else return false; //杩愯涓繑鍥瀎alse
}
@@ -931,10 +933,10 @@
AxisMovingStatus axisMovingStatus = new AxisMovingStatus();
axisMovingStatus.AxisIndex = axisConfig.AxisIndex;
axisMovingStatus.AxisName = axisConfig.AxisName;
- axisMovingStatus.CurPosition = Convert.ToInt32(GetPosition(axisMovingStatus.AxisIndex));
+ //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.CurVelocity = GetVelocity(axisMovingStatus.AxisIndex);
+ //axisMovingStatus.PrfVelocity = GetPrfVelocity(axisMovingStatus.AxisIndex);
axisMovingStatus.AxisStatus = GetAxisStatus(axisMovingStatus.AxisIndex);
axisMovingStatusesList.Add(axisMovingStatus);
@@ -956,7 +958,7 @@
GTSCardAPI.GT_GetDo((short)IConfig.CardNum, GTSCardAPI.MC_GPO, out outValue);
//瑙ｆ瀽缁撴灉
- for (var index = 1; index <= 16; index++)
+ for (var index = 0; index < 16; index++)
{
IOItem inItem = new IOItem()
{
@@ -987,8 +989,10 @@
{
if (!IConfig.IsEnableMonitor)
return;
+
var newValues = GetMonitorValues();
var newAxisMovingStatus = GetAxisMovingStatus();
+
if (newValues == null || newValues.Count == 0 || newAxisMovingStatus == null || newAxisMovingStatus.Count == 0)
continue;
@@ -996,12 +1000,21 @@
sw.Start();
if (MonitorValues.Count == newValues.Count)
{
- var tempNew = newValues.DeepSerializeClone();//clone
- var tempOld = MonitorValues.DeepSerializeClone();
+ //var tempNew = newValues.DeepSerializeClone();//clone
+ //var tempOld = MonitorValues.DeepSerializeClone();
+ var tempNew = new List<IOItem>(newValues);//clone
+ var tempOld = new List<IOItem>(MonitorValues);
MonitorCheckAndInvoke(tempNew, tempOld);
}
- AxisMovingOptionValues = new List<AxisMovingStatus>(newAxisMovingStatus);
+ 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);
MonitorValues = new List<IOItem>(newValues);
sw.Stop();
@@ -1021,6 +1034,29 @@
if (CurrentState == DeviceState.DSOpen)
{
LogAsync(DateTime.Now, $"{this.Name}鐩戝惉寮傚父", ex.GetExceptionMessage());
+ }
+ }
+ }
+ });
+ }
+
+ private async void AxisStatusCheck(List<AxisMovingStatus> tempNew, List<AxisMovingStatus> tempOld)
+ {
+ await Task.Run(() =>
+ {
+ foreach (var newSts in tempNew)
+ {
+ var oldSts = tempOld.FirstOrDefault(u => u.AxisIndex == newSts.AxisIndex);
+ if (oldSts != null)
+ {
+ if (oldSts.AxisStatus != newSts.AxisStatus)
+ {
+ AxisStatusChanged(newSts.AxisIndex, oldSts.AxisStatus, newSts.AxisStatus);
+ }
+
+ if (((newSts.AxisStatus >> 1 & 1) == 1) && ((oldSts.AxisStatus >> 1 & 1) == 0)) //鍒濇鎶ヨ
+ {
+ AxisAlarmRaised(newSts.AxisStatus, $"杞磠newSts.AxisIndex}:{newSts.AxisName}杞翠己鏈嶆姤璀�");
}
}
}
@@ -1092,10 +1128,10 @@
monitorSet.OpConfig = new OperationConfigBase();
}
- //monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
- //{
- // return tempNew[index].Value;
- //}).ToList();
+ monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
+ {
+ return tempNew[index].Value == IOValue.TRUE ? 1 : 0;
+ }).ToList();
ExcuteMonitorInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet);
}
@@ -1111,7 +1147,8 @@
ClearStatus(1, axisSettings.Count);
foreach (var axisSetting in axisSettings)
{
- axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
+ //axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
+ axis_sts = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex).AxisStatus;
if ((axis_sts & 0x200) == 0)
{
var rst = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisSetting.AxisIndex);
--
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