From 5918194fccdb2a2303e713b8d2f3335243b9e2ef Mon Sep 17 00:00:00 2001
From: wells.liu <wells.liu@broconcentric.com>
Date: 星期二, 07 七月 2020 14:53:13 +0800
Subject: [PATCH] 板卡驱动
---
src/Bro.Common.Model/Model/MotionCardRelated.cs | 145 ++++++++++++++++++++++++++++++++---------------
1 files changed, 98 insertions(+), 47 deletions(-)
diff --git a/src/Bro.Common.Model/Model/MotionCardRelated.cs b/src/Bro.Common.Model/Model/MotionCardRelated.cs
index 5b4f5ac..6342b0a 100644
--- a/src/Bro.Common.Model/Model/MotionCardRelated.cs
+++ b/src/Bro.Common.Model/Model/MotionCardRelated.cs
@@ -35,66 +35,66 @@
[Category("鎹㈢畻閰嶇疆")]
[DisplayName("鑴夊啿鏁版崲绠楁瘮渚�")]
[Description("鑴夊啿鏁板拰鍏朵粬璁￠噺鍗曚綅鐨勬崲绠楁瘮渚嬶紝渚嬪璁剧疆涓�1000锛岃〃绀�1000涓剦鍐茬瓑浜�1uint")]
- public int PulseRatio { get; set; } = 1;
+ public int AxisRatio { get; set; } = 1;
- [Category("閫熷害閰嶇疆")]
- [DisplayName("榛樿閫熷害鍙傛暟")]
- [Description("VelocityPara锛氶粯璁ら�熷害鍙傛暟")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public VelocityPara VelocityPara { get; set; } = new VelocityPara();
+ //[Category("閫熷害閰嶇疆")]
+ //[DisplayName("榛樿閫熷害鍙傛暟")]
+ //[Description("VelocityPara锛氶粯璁ら�熷害鍙傛暟")]
+ //[TypeConverter(typeof(ComplexObjectConvert))]
+ //[Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
+ //public VelocityPara VelocityPara { get; set; } = new VelocityPara();
- [Category("鍥炲師鐐硅缃�")]
- [DisplayName("鍥炲師鐐规ā寮�")]
- [Description("HomeMode锛氬洖鍘熺偣妯″紡銆�0锛氫竴鑸ā寮� 1锛氭瀬闄愰檺浣嶆ā寮� 2锛氬閮ㄨЕ鍙戞ā寮�")]
- public int HomeMode { get; set; } = 0;
+ //[Category("鍥炲師鐐硅缃�")]
+ //[DisplayName("鍥炲師鐐规ā寮�")]
+ //[Description("HomeMode锛氬洖鍘熺偣妯″紡銆�0锛氫竴鑸ā寮� 1锛氭瀬闄愰檺浣嶆ā寮� 2锛氬閮ㄨЕ鍙戞ā寮�")]
+ //public int HomeMode { get; set; } = 0;
- [Category("鍥炲師鐐硅缃�")]
- [DisplayName("鍥炲師鐐规柟鍚�")]
- [Description("IsHomePositive锛氬洖鍘熺偣鏂瑰悜銆� true锛氭鏂瑰悜寮�濮� false锛氳礋鏂瑰悜寮�濮�")]
- public bool IsHomePositive { get; set; } = true;
+ //[Category("鍥炲師鐐硅缃�")]
+ //[DisplayName("鍥炲師鐐规柟鍚�")]
+ //[Description("IsHomePositive锛氬洖鍘熺偣鏂瑰悜銆� true锛氭鏂瑰悜寮�濮� false锛氳礋鏂瑰悜寮�濮�")]
+ //public bool IsHomePositive { get; set; } = true;
- [Category("鍥炲師鐐硅缃�")]
- [DisplayName("鏄惁鑷姩鍥炲師鐐�")]
- [Description("IsAutoGoHome锛氭槸鍚﹁嚜鍔ㄥ洖鍘熺偣銆� true锛氭槸 false锛氬惁")]
- public bool IsAutoGoHome { get; set; } = false;
+ //[Category("鍥炲師鐐硅缃�")]
+ //[DisplayName("鏄惁鑷姩鍥炲師鐐�")]
+ //[Description("IsAutoGoHome锛氭槸鍚﹁嚜鍔ㄥ洖鍘熺偣銆� true锛氭槸 false锛氬惁")]
+ //public bool IsAutoGoHome { get; set; } = false;
- [Category("瓒呮椂璁剧疆")]
- [DisplayName("鍥炲師鐐硅秴鏃�")]
- [Description("TimeOutHome锛氬洖鍘熺偣瓒呮椂锛屽崟浣嶆绉�")]
- public int TimeOutHome { get; set; } = 30000;
+ //[Category("瓒呮椂璁剧疆")]
+ //[DisplayName("鍥炲師鐐硅秴鏃�")]
+ //[Description("TimeOutHome锛氬洖鍘熺偣瓒呮椂锛屽崟浣嶆绉�")]
+ //public int TimeOutHome { get; set; } = 30000;
- [Category("瓒呮椂璁剧疆")]
- [DisplayName("杩愬姩瓒呮椂")]
- [Description("TimeOutMove锛氳繍鍔ㄨ秴鏃讹紝鍗曚綅姣")]
- public int TimeOutMove { get; set; } = 10000;
+ //[Category("瓒呮椂璁剧疆")]
+ //[DisplayName("杩愬姩瓒呮椂")]
+ //[Description("TimeOutMove锛氳繍鍔ㄨ秴鏃讹紝鍗曚綅姣")]
+ //public int TimeOutMove { get; set; } = 10000;
- [Category("寮�闂幆璁剧疆")]
- [DisplayName("鏄惁浣跨敤Cmmd鍥為")]
- [Description("IsUseCmmdPosition锛氭槸鍚︿娇鐢–mmd鍥為")]
- public bool IsUseCmmdPosition { get; set; } = false;
+ //[Category("寮�闂幆璁剧疆")]
+ //[DisplayName("鏄惁浣跨敤Cmmd鍥為")]
+ //[Description("IsUseCmmdPosition锛氭槸鍚︿娇鐢–mmd鍥為")]
+ //public bool IsUseCmmdPosition { get; set; } = false;
- [Category("寮�闂幆璁剧疆")]
- [DisplayName("鏄惁浣跨敤鏉垮崱鍙嶉鍋滄淇″彿")]
- [Description("IsUseMDNStopSignal锛氭槸鍚︿娇鐢ㄦ澘鍗″弽棣堝仠姝俊鍙�")]
- public bool IsUseMDNStopSignal { get; set; } = false;
+ //[Category("寮�闂幆璁剧疆")]
+ //[DisplayName("鏄惁浣跨敤鏉垮崱鍙嶉鍋滄淇″彿")]
+ //[Description("IsUseMDNStopSignal锛氭槸鍚︿娇鐢ㄦ澘鍗″弽棣堝仠姝俊鍙�")]
+ //public bool IsUseMDNStopSignal { get; set; } = false;
- [Category("寮�闂幆璁剧疆")]
- [DisplayName("鏄惁鍚敤鎶ヨ")]
- [Description("IsUseWarning锛氭槸鍚﹀惎鐢ㄦ姤璀�")]
- public bool IsUseWarning { get; set; } = false;
+ //[Category("寮�闂幆璁剧疆")]
+ //[DisplayName("鏄惁鍚敤鎶ヨ")]
+ //[Description("IsUseWarning锛氭槸鍚﹀惎鐢ㄦ姤璀�")]
+ //public bool IsUseWarning { get; set; } = false;
[Category("鏆傚仠閰嶇疆")]
[DisplayName("鏄惁鍚敤绔嬪嵆鏆傚仠")]
[Description("IsImmediatePause锛氭槸鍚﹀惎鐢ㄧ珛鍗虫殏鍋�")]
public bool IsImmediatePause { get; set; } = false;
- [Category("鏆傚仠閰嶇疆")]
- [DisplayName("杞翠綅缃浜庡尯闂村唴鏃堕�傜敤鐨勬殏鍋滄搷浣�")]
- [Description("ImmediatePauseSections锛氬綋杞翠綅缃浜庡尯闂村唴鏃堕�傜敤鐨勬殏鍋滄搷浣�")]
- [TypeConverter(typeof(CollectionCountConvert))]
- [Editor(typeof(ComplexCollectionEditor<Section>), typeof(UITypeEditor))]
- public List<Section> ImmediatePauseSections { get; set; } = new List<Section>();
+ //[Category("鏆傚仠閰嶇疆")]
+ //[DisplayName("杞翠綅缃浜庡尯闂村唴鏃堕�傜敤鐨勬殏鍋滄搷浣�")]
+ //[Description("ImmediatePauseSections锛氬綋杞翠綅缃浜庡尯闂村唴鏃堕�傜敤鐨勬殏鍋滄搷浣�")]
+ //[TypeConverter(typeof(CollectionCountConvert))]
+ //[Editor(typeof(ComplexCollectionEditor<Section>), typeof(UITypeEditor))]
+ //public List<Section> ImmediatePauseSections { get; set; } = new List<Section>();
public string GetDisplayText()
{
@@ -193,6 +193,52 @@
}
/// <summary>
+ /// 鏉垮崱杩愬姩鐘舵�佸璞�
+ /// </summary>
+ public class AxisMovingStatus : IComplexDisplay
+ {
+ /// <summary>
+ /// 杞寸储寮�
+ /// </summary>
+ public int AxisIndex { get; set; }
+
+ /// <summary>
+ /// 杞村悕绉�
+ /// </summary>
+ public string AxisName { get; set; }
+
+ /// <summary>
+ /// 褰撳墠浣嶇疆
+ /// </summary>
+ public int CurPosition { get; set; }
+
+ /// <summary>
+ /// 鐩殑鍦�
+ /// </summary>
+ public int Destination { get; set; }
+
+ /// <summary>
+ /// 褰撳墠閫熷害鍙傛暟
+ /// </summary>
+ public double CurVelocity { get; set; }
+
+ /// <summary>
+ /// 瑙勫垝閫熷害鍙傛暟
+ /// </summary>
+ public double PrfVelocity { get; set; }
+
+ /// <summary>
+ /// 杞寸姸鎬�
+ /// </summary>
+ public int AxisStatus { get; set; }
+
+ public string GetDisplayText()
+ {
+ return $"杞磠AxisIndex}:{AxisName}-褰撳墠锛歿CurPosition}-瑙勫垝锛歿Destination}";
+ }
+ }
+
+ /// <summary>
/// 杩愬姩瀵硅薄
/// </summary>
public class MovingOption : INotifyPropertyChanged, IComplexDisplay
@@ -216,11 +262,11 @@
}
}
- private MotorMoveMode moveMode = MotorMoveMode.Normal;
+ private MotionMode moveMode = MotionMode.Normal;
[Category("杩愬姩閰嶇疆")]
[DisplayName("杩愬姩妯″紡")]
[Description("MoveMode锛氳繍鍔ㄦā寮�")]
- public MotorMoveMode MoveMode
+ public MotionMode MoveMode
{
get => moveMode;
set
@@ -305,6 +351,11 @@
}
}
+ [Category("鏉垮崱杩愬姩閰嶇疆")]
+ [Description("瓒呮椂璁剧疆锛屽崟浣嶏細ms")]
+ [DisplayName("杩愬姩瓒呮椂")]
+ public int MovingTimeout { get; set; } = 0;
+
internal List<AxisSetting> _axisSettingList = new List<AxisSetting>();
public void SetAxisSetting(List<AxisSetting> settings)
{
--
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