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.Device.GTSCard/GTSCardDriver.cs | 1784 +++++++++++++++++++++++++++++------------------------------
1 files changed, 884 insertions(+), 900 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index 03b4c15..c2cc8e6 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -6,25 +6,24 @@
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Collections.ObjectModel;
+using System.Diagnostics;
using System.Drawing;
+using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
+using static Bro.Common.Helper.EnumHelper;
namespace Bro.Device.GTSCard
{
[Device("GTSCard", "鍥洪珮鏉垮崱", EnumHelper.DeviceAttributeType.Device)]
- public class GTSCardDriver : DeviceBase, IMonitor, IMotion
+ public class GTSCardDriver : MotionCardBase
{
- 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
+ public GTSCardInitialConfig IIConfig
{
get
{
@@ -32,42 +31,25 @@
}
}
- 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 lockObj = new object();
- static object _commandAxisLock = new object();
+ static object moveLock = new object();
/// <summary>
/// 鏄惁澶嶄綅鏍囧織
/// </summary>
bool _isResetting = false;
+
+ /// <summary>
+ /// 杩愬姩杞寸珛鍗虫殏鍋�
+ /// </summary>
+ Dictionary<int, ManualResetEvent> axisImmediatePauseHandleDict = new Dictionary<int, ManualResetEvent>();
+
+ Dictionary<int, CancellationTokenSource> axisMoveCancelDict = new Dictionary<int, CancellationTokenSource>();
public void SetResetFlag(bool isReset)
{
_isResetting = isReset;
}
- public List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
+ public override List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
{
throw new NotImplementedException();
}
@@ -76,11 +58,7 @@
protected override void Init()
{
- InitialMotionCard((short)IConfig.CardNum, IConfig.InitialConfigFilePath);
-
- axisMoveLockDict = IConfig.AxisSettings.ToDictionary(a => a.AxisIndex, a => new object());
- runningEventDic = IConfig.AxisSettings.ToDictionary(a => a.AxisIndex, a => new ManualResetEvent(false));
- axisMovingHandleDict = IConfig.AxisSettings.ToDictionary(a => a.AxisIndex, a => new AutoResetEvent(true));
+ InitialMotionCard();
axisImmediatePauseHandleDict = IConfig.AxisSettings.ToDictionary(a => a.AxisIndex, a => new ManualResetEvent(true));
axisMoveCancelDict = IConfig.AxisSettings.ToDictionary(a => a.AxisIndex, a => new CancellationTokenSource());
@@ -88,261 +66,445 @@
{
c = new CancellationTokenSource();
});
-
- _commandAxisList.CollectionChanged -= CommandAxisList_CollectionChanged;
- _commandAxisList.CollectionChanged += CommandAxisList_CollectionChanged;
}
- private void CommandAxisList_CollectionChanged(object sender, System.Collections.Specialized.NotifyCollectionChangedEventArgs e)
- {
- CommandAxisCountChangedAction?.Invoke(_commandAxisList.Count > 0);
- }
-
+ ManualResetEvent _pauseHandle = new ManualResetEvent(true);
protected override void Pause()
{
- throw new NotImplementedException();
+
}
protected override void Resume()
{
- throw new NotImplementedException();
+
}
protected override void Start()
{
- throw new NotImplementedException();
+ AllAxisOn();
}
protected override void Stop()
{
- throw new NotImplementedException();
+ AllMoveStop();
+ AllAxisOff();
+ }
+
+ /// <summary>
+ /// 璁惧 杩愯锛堟墽琛� 鏉垮崱绯诲垪鐨勬搷浣滅殑 闆嗗悎锛�
+ /// </summary>
+ /// <param name="config"></param>
+ /// <returns></returns>
+ public override ResponseMessage Run(IOperationConfig config)
+ {
+ ResponseMessage responseMessage = new ResponseMessage();
+ if (config is MotionCardOperationConfigBase motionCardOperationConfig)
+ {
+ _pauseHandle.WaitOne();
+ foreach (var operationSet in motionCardOperationConfig.OperationCollection)
+ {
+ responseMessage = RunOperationSet(operationSet);
+ if (!responseMessage.Result)
+ {
+ return responseMessage;
+ }
+ }
+ }
+ return responseMessage;
+ }
+
+ /// <summary>
+ /// 鎵ц 涓�涓郴鍒楃殑鎿嶄綔
+ /// </summary>
+ private ResponseMessage RunOperationSet(MotionCardOperationSet operationSet)
+ {
+ ResponseMessage responseMessage = new ResponseMessage();
+ // 1.棰勬鏌�
+ if (CurrentState == DeviceState.DSOpen)
+ {
+ foreach (var preCheck in operationSet.PreCheckIOCollection)
+ {
+ int timeout = operationSet.PreCheckIOTimeout;
+ IOValue? ioData = null;
+ while (CurrentState == DeviceState.DSOpen)
+ {
+ Thread.Sleep(10);
+ ioData = MonitorValues.FirstOrDefault(u => u.IONum == preCheck.IOItem.IONum && u.IOType == preCheck.IOItem.IOType)?.Value;//IO 鏄紑銆佸叧 浠嶮onitorValues 鑾峰彇
+ timeout -= 10;
+ if (preCheck.CheckValue == ioData || (operationSet.PreCheckIOTimeout > 0 && timeout < 0))
+ {
+ break;
+ }
+ }
+
+ if (preCheck.CheckValue != ioData)
+ {
+ responseMessage.Result = false;
+ responseMessage.Message = $"棰勬鏌ヤ笉閫氳繃锛岄厤缃細{preCheck.GetDisplayText()}锛屽綋鍓嶅�硷細{ioData}";
+ return responseMessage;
+ }
+ }
+ }
+
+ // 2.鏉垮崱杩愬姩
+ if (CurrentState == DeviceState.DSOpen)
+ {
+ responseMessage = MoveToPoint(operationSet.MotionOperationCollection);
+ if (!responseMessage.Result)
+ {
+ return responseMessage;
+ }
+ }
+
+
+ // 3.IO杈撳嚭 涓嶉渶瑕佽秴鏃�
+ if (CurrentState == DeviceState.DSOpen)
+ {
+ foreach (var ioOutput in operationSet.IOOutputCollection)
+ {
+ var ioData = MonitorValues.FirstOrDefault(u => u.IONum == ioOutput.IOItem.IONum && u.IOType == ioOutput.IOItem.IOType)?.Value;//IO 鏄紑銆佸叧 浠嶮onitorValues 鑾峰彇
+ if (ioOutput.CheckValue != ioData)
+ {
+ responseMessage.Result = false;
+ responseMessage.Message = $"IO杈撳嚭涓嶉�氳繃锛岄厤缃細{ioOutput.GetDisplayText()}锛屽綋鍓嶅�硷細{ioData}";
+ return responseMessage;
+ }
+ }
+ }
+
+ // 4.IO纭
+ if (CurrentState == DeviceState.DSOpen)
+ {
+ foreach (var ioConfirm in operationSet.IOConfirmCollection)
+ {
+ int timeout = operationSet.IOConfirmTimeout;
+ IOValue? ioData = null;
+ while (CurrentState == DeviceState.DSOpen)
+ {
+ Thread.Sleep(10);
+ ioData = MonitorValues.FirstOrDefault(u => u.IONum == ioConfirm.IOItem.IONum && u.IOType == ioConfirm.IOItem.IOType)?.Value;//IO 鏄紑銆佸叧 浠嶮onitorValues 鑾峰彇
+ timeout -= 10;
+ if (ioConfirm.CheckValue == ioData || (operationSet.IOConfirmTimeout > 0 && timeout < 0))
+ {
+ break;
+ }
+ }
+
+ if (ioConfirm.CheckValue != ioData)
+ {
+ responseMessage.Result = false;
+ responseMessage.Message = $"IO纭涓嶉�氳繃锛岄厤缃細{ioConfirm.GetDisplayText()}锛屽綋鍓嶅�硷細{ioData}";
+ return responseMessage;
+ }
+ }
+ }
+
+ return responseMessage;
+ }
+ #endregion
+
+ #region ImmediatePause
+ /// <summary>
+ /// 鍚姩绔嬪嵆鏆傚仠
+ /// </summary>
+ public void SetImmediatePause()
+ {
+ if (!_isResetting)
+ {
+ var immediatePauseAxis = IConfig.AxisSettings.Where(u => u.IsImmediatePause).Select(u => u.AxisIndex).ToList();
+
+ immediatePauseAxis.ForEach(async axisIndex =>
+ {
+ axisImmediatePauseHandleDict[axisIndex].Reset();
+
+ axisMoveCancelDict[axisIndex].Cancel();
+
+ await MoveStop(axisIndex, 0);
+ });
+ }
+ }
+
+ /// <summary>
+ /// 鎭㈠绔嬪嵆鏆傚仠
+ /// </summary>
+ public void ResetImmediatePause()
+ {
+ var immediatePauseAxis = IConfig.AxisSettings.Where(u => u.IsImmediatePause).Select(u => u.AxisIndex).ToList();
+
+ immediatePauseAxis.ForEach(axisIndex =>
+ {
+ axisMoveCancelDict[axisIndex] = new CancellationTokenSource();
+
+ axisImmediatePauseHandleDict[axisIndex].Set();
+ });
}
#endregion
#region GTSCard
-
- public void ClearPosition(short cardNum, short axisNum)
- {
- int ret = GTSCardAPI.GT_SetPos(cardNum, axisNum, 0);
- }
/// <summary>
/// Load Motion Card parameter from file
/// </summary>
/// <param name="fileName">Invalid Parameter</param>
/// <returns></returns>
- public void InitialMotionCard(short cardNum, string fileName)
+ public void InitialMotionCard()
{
- var res = GTSCardAPI.GT_LoadConfig(cardNum, fileName);
- if (res != GTSCardAPI.ResultSuccess)
+ 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>
- /// 鍗曚釜杞� 鐐逛綅鍒扮偣浣嶈繍鍔紙寮傛锛�
+ /// 鍗曚釜杞村紑鍚�
/// </summary>
- /// <param name="item">杩愬姩瀵硅薄</param>
/// <returns></returns>
- public async Task SingleAxisMovingAsync(MovingOption item)
+ public async Task<bool> AxisOnAsync(short cardNum, short axisNum)
{
- await Task.Run(() =>
+ return await Task.Run(() =>
{
- SingleAxisMoving(item);
+ var ret = GTSCardAPI.GT_AxisOn(cardNum, axisNum);
+ return ret == (short)GTSRetCode.GRCRunOK;
});
}
/// <summary>
- /// 鍗曚釜杞� 鐐逛綅鍒扮偣浣嶈繍鍔紙寮傛锛�
+ /// 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>
- public void SingleAxisMoving(MovingOption item)
+ /// <returns>杩愬姩鎺у埗+鍋滄鍒ゆ柇</returns>
+ public override ResponseMessage MoveToPoint(IOperationConfig opConfig)
{
- if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == item.AxisIndex)?.IsAxisEnabled ?? false)
+ ResponseMessage responseMessage = new ResponseMessage();
+ if (opConfig is MotionOperationCollection gtsOperationCollection)
{
- axisImmediatePauseHandleDict[item.AxisIndex].WaitOne();
- VelocityPara vel = new VelocityPara();
- if (item.VelocityPara.Velocity != 0)
+ _pauseHandle.WaitOne();
+ List<Task<bool>> taskList = new List<Task<bool>>();
+ foreach (var movingOp in gtsOperationCollection.MovingOps)
{
- velIndexDict[item.AxisIndex] = vel = item.VelocityPara;
- }
- else
- {
- vel = velIndexDict[item.AxisIndex];
+ var task = SingleAxisMoving(movingOp);
+ taskList.Add(task);
}
- string _position = "";
- string motionType = item.MoveMode == EnumHelper.MotorMoveMode.Normal ? (item.IsAbsolute ? "Abs" : "Rel") : item.MoveMode.ToString();
-
- _position = $"{DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff")},{item.AxisIndex},{motionType},{GetCmdOrPosition(item.AxisIndex, 0).ToString()},{GetCmdOrPosition(item.AxisIndex, 1).ToString()},{item.Destination},";
-
- lock (axisMoveLockDict[item.AxisIndex])
+ Task.WaitAll(taskList.ToArray());
+ responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
+ if (!responseMessage.Result)
{
- Task.Run(() =>
- {
- lock (_commandAxisLock)
- {
- try
- {
- if (!_commandAxisList.Contains(item.AxisIndex))
- {
- _commandAxisList.Add(item.AxisIndex);
- }
- }
- catch (Exception)
- {
- }
- }
- });
-
- switch (item.MoveMode)
- {
- case EnumHelper.MotorMoveMode.Normal:
- {
- if (_isResetting)
- {
- LogAsync(DateTime.Now, "澶嶄綅涓惎鍔ㄨ繍鍔ㄥ紓甯�", item.AxisIndex + "鍚姩杩愬姩寮傚父");
- return;
- }
-
- SetAxisParam(item.AxisIndex, vel);
- if (item.IsAbsolute)
- {
- MoveAbs(item.AxisIndex, item.Destination, (int)(vel.Velocity * IConfig.AxisVelocityRatio));
- }
- else
- {
- MoveRel(item.AxisIndex, item.Destination, (int)(vel.Velocity * IConfig.AxisVelocityRatio));
- }
- }
- break;
- case EnumHelper.MotorMoveMode.FindOri:
- {
- AxisSetting setting = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == item.AxisIndex);
- StartHoming(item.AxisIndex, setting.HomeMode, setting.IsHomePositive ? 1 : 0, item.VelocityPara.Dec, item.VelocityPara.Acc, item.VelocityPara.Velocity);
- }
- break;
- }
-
- Task.Run(() =>
- {
- lock (_commandAxisLock)
- {
- try
- {
- _commandAxisList.Remove(item.AxisIndex);
- }
- catch (Exception)
- {
- }
- }
- });
+ responseMessage.Message = $"鐐逛綅杩愬姩寮傚父";
}
-
- _position += $"{GetCmdOrPosition(item.AxisIndex, 0).ToString()},";
- _position += $"{DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff")}";
- LogAsync(DateTime.Now, "", _position);
}
- }
-
- public int GetCmdOrPosition(int axisNum, int flag = 0)
- {
- int position = 0;
-
- if (flag == 0)
- {
- GetPosition(axisNum, ref position);
- }
- else
- {
- GetCmdPosition(axisNum, ref position);
- }
-
- return position;
+ return responseMessage;
}
/// <summary>
- ///Get single Axis Feedback position
+ /// 鐐瑰埌鐐硅繍鍔ㄨ缃弬鏁�
/// </summary>
- /// <param name="axisNum">Axis number</param>
- /// <param name="nPosition">Feedback/Encorde position </param>
+ /// <param name="optionPara">杩愬姩鍙傛暟瀵硅薄</param>
/// <returns></returns>
- public void GetPosition(int axisNum, ref int nPosition)
+ private bool SetAxisParam(MovingOption optionPara)
{
- lock (lockObj)
- {
- double prfpos = 0; uint pclock = 0;
- var ret = GTSCardAPI.GT_GetPrfPos((short)IConfig.CardNum, (short)axisNum, out prfpos, 1, out pclock);
- if (ret != GTSCardAPI.ResultSuccess)
- {
- throw new Exception("杞�" + axisNum + "鑾峰彇褰撳墠浣嶇疆寮傚父锛岄敊璇爜锛�" + ret);
- }
- nPosition = prfpos / IConfig.AxisVelocityRatio;
- }
- }
-
- public int GetPosition(int axisNum)
- {
- int position = 0;
-
- if (!IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum).IsUseCmmdPosition)
- {
- GetPosition(axisNum, ref position);
- }
- else
- {
- GetCmdPosition(axisNum, ref position);
- }
-
- return position;
- }
-
- /// <summary>
- ///Get single Axis Command position
- /// </summary>
- /// <param name="axisNum">Axis number</param>
- /// <param name="nPosition">Command position </param>
- /// <returns></returns>
- public void GetCmdPosition(int axisNum, ref int nPosition)
- {
- var ret = GTSCardAPI.APS_get_command(axisNum, ref nPosition);
- if (ret != (Int32)GTSCardParameter.ResultSuccess)
- {
- throw new Exception("杞�" + axisNum + "鑾峰彇褰撳墠浣嶇疆寮傚父锛岄敊璇爜锛�" + ret);
- }
- nPosition = prfpos / IConfig.AxisVelocityRatio;
- }
-
- /// <summary>
- /// Set AxisParam
- /// </summary>
- /// <param name="axisNo"></param>
- /// <param name="param"></param>
- /// <returns></returns>
- public void SetAxisParam(int axisNum, VelocityPara param)
- {
- int ret = 0;
- GTSCardAPI.TTrapPrm trapprm;
- GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)axisNum);
- GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, (short)axisNum, out trapprm);
+ 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;
- if (param.Acc != 0)
- {
- trapprm.acc = param.Acc;
- }
- if (param.Dec != 0)
- {
- trapprm.dec = param.Dec;
- }
- ret += GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, (short)axisNum, ref trapprm);
- ret += GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)axisNum, param.Velocity * IConfig.AxisVelocityRatio);
+ trapprm.acc = optionPara.VelocityPara.Acc != 0 ? optionPara.VelocityPara.Acc : 1;
+ trapprm.dec = optionPara.VelocityPara.Dec != 0 ? optionPara.VelocityPara.Dec : 1;
- if (ret != (int)APS_Define.ResultSuccess)
+ 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�" + axisNum + "璁剧疆鍙傛暟寮傚父锛岄敊璇爜锛�" + ret);
+ 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>
+ /// 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 async Task<bool> SingleAxisMoving(MovingOption optionPara)
+ {
+ return await Task.Run(() =>
+ {
+ bool isSuccessAndStop = false;
+ try
+ {
+ if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
+ {
+ axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
+
+ string _position = "";
+ string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();
+
+ _position = $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff},{optionPara.AxisIndex},{motionType},{GetPosition(optionPara.AxisIndex)},{GetPrfPosition(optionPara.AxisIndex)},{optionPara.Destination},";
+
+ switch (optionPara.MoveMode)
+ {
+ case MotionMode.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 MotionMode.FindOri:
+ {
+ isSuccessAndStop = GoHome(optionPara);
+ }
+ break;
+ case MotionMode.Jog:
+ {
+ isSuccessAndStop = JogMove(optionPara);
+ }
+ break;
+ }
+ _position += $"{GetPosition(optionPara.AxisIndex)},";
+ _position += $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}";
+ LogAsync(DateTime.Now, "", _position);
+ }
+ }
+ catch (Exception ex)
+ {
+ isSuccessAndStop = false;
+ LogAsync(DateTime.Now, $"杞磠optionPara.AxisIndex}杩愬姩寮傚父", ex.GetExceptionMessage());
+ }
+ 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)
+ {
+ 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>
+ /// 鑾峰彇瑙勫垝閫熷害
+ /// </summary>
+ /// <param name="axisNum">Axis number</param>
+ /// <returns></returns>
+ public double GetPrfVelocity(int axisNum)
+ {
+ double prfVel = 0;
+ uint pclock = 0;
+ var ret = GTSCardAPI.GT_GetPrfVel((short)IConfig.CardNum, (short)axisNum, out prfVel, 1, out pclock);
+ if (ret != (short)GTSRetCode.GRCRunOK)
+ {
+ throw new Exception("杞�" + axisNum + "鑾峰彇瑙勫垝閫熷害寮傚父锛岄敊璇爜锛�" + ret);
+ }
+ prfVel = prfVel / IConfig.AxisVelocityRatio;
+ return prfVel;
+ }
+
+ /// <summary>
+ /// 鑾峰彇褰撳墠閫熷害
+ /// </summary>
+ /// <param name="axisNum">Axis number</param>
+ /// <returns></returns>
+ public double GetVelocity(int axisNum)
+ {
+ double vel = 0;
+ var ret = GTSCardAPI.GT_GetVel((short)IConfig.CardNum, (short)axisNum, out vel);
+ if (ret != (short)GTSRetCode.GRCRunOK)
+ {
+ throw new Exception("杞�" + axisNum + "鑾峰彇褰撳墠閫熷害寮傚父锛岄敊璇爜锛�" + ret);
+ }
+ vel = vel / IConfig.AxisVelocityRatio;
+ return vel;
}
/// <summary>
@@ -352,643 +514,302 @@
/// <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)APS_Define.ResultSuccess)
+ 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 + "JogMove寮傚父", "閿欒鐮侊細" + ret + ";" + "閲嶈瘯娆℃暟锛�" + repeatTime);
+ Thread.Sleep(10);
+ }
+ 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>
- /// Set Single Axis Do stop Jog Move
- /// </summary>
- /// <param name="axisNum">AxisNo</param>
- /// <returns></returns>
- public bool StopJog(int axisNum)
- {
- MoveStop();
- return IsStop((short)IConfig.CardNum, (short)axisNum);
- }
-
- /// <summary>
- /// Set Single Axis Do Rel Move
+ /// 鐩稿浣嶇疆杩愬姩
/// </summary>
/// <param name="axisNum">AxisNo</param>
/// <param name="nDistance">run distance</param>
/// <returns></returns>
- public void MoveRel(int axisNum, int nDistance, int nMaxVel)
+ 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�" + axisNum + "璇曞浘寮傚父鐘舵�佽繍鍔�");
- return;
+ 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)
{
- return;
+ 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);
}
- int currentPosition = GetPosition(axisNum);
-
- if (OnAxisStartToCheckConfliction != null && OnAxisStartToCheckConfliction.Invoke(axisNum, currentPosition, currentPosition + nDistance))
+ 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;
+ int currentPosition = (int)GetPosition(optionPara.AxisIndex);
+ int dPosition = optionPara.Destination + currentPosition;
+ int timeout = optionPara.MovingTimeout;
+ while (CurrentState == DeviceState.DSOpen)
{
- return;
+ //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);
+ }
+ timeout -= 50;
+ if ((ret == (short)GTSRetCode.GRCRunOK && isSuccessSetAxisParam) || (optionPara.MovingTimeout > 0 && timeout < 0))
+ {
+ break;
+ }
}
- int ret = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)axisNum, nDistance * IConfig.AxisVelocityRatio);
-
- ret += GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (axisNum - 1));
- if (ret != (Int32)APS_Define.ResultSuccess)
+ //杩愬姩寮�濮嬪悗 妫�鏌ヨ繍鍔ㄦ槸鍚﹀仠姝�
+ bool isStop = false;
+ repeatTime = 1000;
+ do
{
- throw new Exception("杞�" + axisNum + "鍚姩鐩稿杩愬姩寮傚父锛岄敊璇爜锛�" + ret);
- }
+ isStop = IsStop((short)optionPara.AxisIndex);
+ Thread.Sleep(50);
+ repeatTime--;
+ } while (!isStop && repeatTime > 0);
- RunFinish(axisNum, false);
+ return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
}
catch (Exception ex)
{
- MoveStop();
+ AllMoveStop(true);
OnExceptionRaised?.Invoke(ex);
+ return false;
}
}
/// <summary>
- /// Set Single Axis Do Absolute Move
+ /// 缁濆浣嶇疆杩愬姩
/// </summary>
- /// <param name="axisNum">AxisNo</param>
- /// <param name="nDistance">run distance</param>
- /// <param name="nMaxVel">max velocity</param>
- /// <returns></returns>
- public void MoveAbs(int axisNum, int nPosition, int nMaxVel)
+ /// <param name="optionPara">杩愬姩鍙傛暟瀵硅薄</param>
+ public bool P2PMoveAbs(MovingOption optionPara)
{
try
{
- ReMove:
- MoveAbsAsync(axisNum, nPosition);
+ axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
- var runFinish = Task.Run(() => RunFinish(axisNum), axisMoveCancelDict[axisNum].Token);
- try
+ if (_isResetting)
{
- runFinish.Wait(axisMoveCancelDict[axisNum].Token);
+ 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");
}
- catch (OperationCanceledException ex)
+ int repeatTime = 30;
+ while (CurrentState != EnumHelper.DeviceState.DSOpen && repeatTime > 0)
{
- goto ReMove;
+ 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;
}
- //// 鍒犻櫎璁板綍
- //if (currentCommandDic.ContainsKey(axisNum))
- //{
- // currentCommandDic.TryRemove(axisNum, out int[] temp);
- //}
+ 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;
+ bool isSuccessSetAxisParam = false;
+ int timeout = optionPara.MovingTimeout;
+ while (CurrentState == DeviceState.DSOpen)
+ {
+ //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);
+ }
+ timeout -= 50;
+ if ((ret == (short)GTSRetCode.GRCRunOK && isSuccessSetAxisParam) || (optionPara.MovingTimeout > 0 && timeout < 0))
+ {
+ break;
+ }
+ }
+
+ bool isStop = false;
+ repeatTime = 1000;
+ do
+ {
+ isStop = IsStop((short)optionPara.AxisIndex);
+ Thread.Sleep(50);
+ repeatTime--;
+ } while (!isStop && repeatTime > 0);
+
+ return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
}
catch (Exception ex)
{
- MoveStop();
+ AllMoveStop(true);
OnExceptionRaised?.Invoke(ex);
- }
- }
-
- static object moveLock = new object();
-
- /// <summary>
- /// 缁濆杩愬姩锛堝紓姝ワ級
- /// </summary>
- /// <param name="axisNum"></param>
- /// <param name="nPosition"></param>
- public void MoveAbsAsync(int axisNum, int nPosition)
- {
- try
- {
- lock (moveLock)
- {
- axisImmediatePauseHandleDict[axisNum].WaitOne();
- _pauseHandle.WaitOne();
-
- int currentPosition = GetPosition(axisNum);
- if (OnAxisStartToCheckConfliction != null && OnAxisStartToCheckConfliction.Invoke(axisNum, currentPosition, nPosition))
- {
- return;
- }
-
- if (_isResetting)
- {
- LogAsync(DateTime.Now, "澶嶄綅杩囩▼寮傚父", "杞�" + axisNum + "璇曞浘鍦ㄥ浣嶈繃绋嬩腑杩愬姩");
- throw new Exception("杞�" + axisNum + "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�" + axisNum + "璇曞浘寮傚父鐘舵�佽繍鍔�");
- return;
- }
-
- if (CurrentState != EnumHelper.DeviceState.DSOpen)
- {
- LogAsync(DateTime.Now, "闈炴甯哥姸鎬佸紓甯�", "杞�" + axisNum + "璇曞浘鍦ㄩ潪姝ｅ父鐘舵�佽繍鍔�");
- throw new Exception("杞�" + axisNum + "璇曞浘鍦ㄩ潪姝ｅ父鐘舵�佽繍鍔�", null);
- }
-
- int ret = 0;
- repeatTime = 50;
- do
- {
- LogAsync(DateTime.Now, "杞�" + axisNum + "鍚姩杩愬姩", "鐩爣鍧愭爣锛�" + nPosition);
- ret = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)axisNum, nPosition * IConfig.AxisVelocityRatio);
-
- ret += GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (axisNum - 1));
- if (ret != (Int32)APS_Define.ResultSuccess)
- {
- LogAsync(DateTime.Now, "杞�" + axisNum + "APS_absolute_move寮傚父", "杩斿洖鍊硷細" + ret + "锛涢噸璇曟鏁帮細" + repeatTime);
- Thread.Sleep(50);
- }
- repeatTime--;
- } while (ret != (Int32)APS_Define.ResultSuccess && repeatTime > 0);
-
- if (ret != (Int32)APS_Define.ResultSuccess)
- {
- LogAsync(DateTime.Now, "杞�" + axisNum + "鍚姩缁濆杩愬姩寮傚父", "閿欒鐮侊細" + ret);
- throw new Exception("杞�" + axisNum + "鍚姩缁濆杩愬姩寮傚父锛岄敊璇爜锛�" + ret);
- }
- }
- }
- catch (Exception ex)
- {
- MoveStop();
- OnExceptionRaised?.Invoke(ex);
- }
- }
-
- Dictionary<int, AxisMovingStay> _axisStayDict = new Dictionary<int, AxisMovingStay>();
-
- private async void MoveAbsStay(int axisNum)
- {
- await Task.Run(() =>
- {
- while (CurrentState != EnumHelper.DeviceState.DSClose)
- {
- if (!_axisStayDict.ContainsKey(axisNum))
- {
- _axisStayDict[axisNum] = new AxisMovingStay();
- }
-
- _axisStayDict[axisNum].MoveHandle.WaitOne();
- MoveAbsAsync(axisNum, _axisStayDict[axisNum].Position);
- _axisStayDict[axisNum].MoveSendHandle.Set();
- }
- });
- }
-
- /// <summary>
- /// 鍔ㄤ綔缁撴潫
- /// </summary>
- /// <param name="axisNum"></param>
- /// <returns></returns>
- public void RunFinish(int axisNum, bool isAbs = true)
- {
- MOTION_IO_STATUS MotionIoSts = new MOTION_IO_STATUS();
- MOTION_BOOL_STATUS MotionSts = new MOTION_BOOL_STATUS();
- var axisSetting = IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == axisNum);
- int startTime = System.Environment.TickCount;
-
- //MDN淇″彿
- if (axisSetting.IsUseMDNStopSignal)
- {
- while (GetMotionIoStatus(axisNum, ref MotionIoSts) && GetMotionStatus(axisNum, ref MotionSts))
- {
- if (MotionIoSts.EMG)
- {
- LogAsync(DateTime.Now, "杞�" + axisNum + "鎬ュ仠", "");
- throw new Exception("杞�" + axisNum + "鎬ュ仠");
- }
-
- if (MotionSts.MDN)
- {
- int stopCode = -1;
- APS168.APS_get_stop_code(axisNum, ref stopCode);
-
- LogAsync(DateTime.Now, "杞�" + axisNum + "StopCode锛�", stopCode.ToString());
-
- //0 姝ｅ父鍋滄 4 姝ｆ瀬闄� 5 璐熸瀬闄�
- if (new List<int>() { 0, 4, 5 }.Contains(stopCode))
- {
- if (new List<int>() { 4, 5 }.Contains(stopCode) && axisSetting.IsUseWarning)
- {
- MoveStop(true);
- OnExceptionRaised?.Invoke(new Exception("杞�" + axisNum + "杩愬姩鑷虫瀬闄愪綅缃紝stopCode锛�" + stopCode.ToString(), null));
- return;
- }
- if (IConfig.ActionAfterDelay > 0)
- {
- Thread.Sleep(IConfig.ActionAfterDelay);
- }
-
- int feedBack = 0;
- GetPosition(axisNum, ref feedBack);
- LogAsync(DateTime.Now, "杞�" + axisNum + "杩愬姩缁撴潫", "褰撳墠浣嶇疆锛�" + feedBack);
- break;
- }
- }
-
- }
- }
- else //INP淇″彿
- {
- while (GetMotionIoStatus(axisNum, ref MotionIoSts) && GetMotionStatus(axisNum, ref MotionSts))
- {
- if (MotionIoSts.EMG)
- {
- LogAsync(DateTime.Now, "杞�" + axisNum + "鎬ュ仠", "");
- throw new Exception("杞�" + axisNum + "鎬ュ仠");
- }
-
-
- if (MotionSts.MDN && MotionIoSts.INP)
- {
- int stopCode = -1;
- APS168.APS_get_stop_code(axisNum, ref stopCode);
-
- LogAsync(DateTime.Now, "杞�" + axisNum + "StopCode锛�", stopCode.ToString());
-
- //0 姝ｅ父鍋滄 4 姝ｆ瀬闄� 5 璐熸瀬闄�
- if (new List<int>() { 0, 4, 5 }.Contains(stopCode))
- {
- if (new List<int>() { 4, 5 }.Contains(stopCode) && axisSetting.IsUseWarning)
- {
- MoveStop(true);
- OnExceptionRaised?.Invoke(new AMPRunException("杞�" + axisNum + "杩愬姩鑷虫瀬闄愪綅缃紝stopCode锛�" + stopCode.ToString(), null));
- return;
- }
-
- if (IConfig.ActionAfterDelay > 0)
- {
- Thread.Sleep(IConfig.ActionAfterDelay);
- }
-
- int feedBack = 0;
- GetPosition(axisNum, ref feedBack);
- LogAsync(DateTime.Now, "杞�" + axisNum + "杩愬姩缁撴潫", "褰撳墠浣嶇疆锛�" + feedBack);
- break;
- }
- }
-
- }
+ return false;
}
}
/// <summary>
- /// Stop single axis move
+ /// 鏌愪釜杞磋繍鍔ㄥ仠姝�
/// </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 void MoveStop(int axisNum, int option)
+ public async Task<bool> MoveStop(int axisNum, int option)
{
- int ret = GTSCardAPI.GT_Stop((short)IConfig.CardNum, 1 << (axisNum - 1), option);
- if (ret != (Int32)APS_Define.ResultSuccess)
+ return await Task.Run(() =>
{
- 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", "");
- }
- }
-
- static object motionIOLock = new object();
- /// <summary>
- /// Get single Axis Motion_Io status and motion status
- /// </summary>
- /// <param name="nAxis"></param>
- /// <param name="nMotionSts"></param>
- /// <returns></returns>
- public bool GetMotionStatus(int nAxis, ref MOTION_BOOL_STATUS strcMotionSts)
- {
- lock (motionIOLock)
- {
- int nMotionSts = 0;
- nMotionSts = APS168.APS_motion_status(nAxis);
- if (nMotionSts < 0)
+ bool isStop = false;
+ if (option == 1)
{
- return false;
+ StateChange(EnumHelper.DeviceState.DSExcept);
}
- strcMotionSts.ASTP = Convert.ToBoolean(nMotionSts & (1 << (int)MOTION_STATUS.ASTP));
- strcMotionSts.HMV = Convert.ToBoolean(nMotionSts & (1 << (int)MOTION_STATUS.HMV));
- strcMotionSts.MDN = Convert.ToBoolean(nMotionSts & (1 << (int)MOTION_STATUS.MDN));
- strcMotionSts.DIR = Convert.ToBoolean(nMotionSts & (1 << (int)MOTION_STATUS.DIR));
- }
- return true;
- }
-
- /// <summary>
- /// Get single Axis Motion_Io status and motion status
- /// </summary>
- /// <param name="nAxis"></param>
- /// <param name="nMotionIoSts"></param>
- /// <returns></returns>
- public bool GetMotionIoStatus(int nAxis, ref MOTION_IO_STATUS strcMotionIoSts)
- {
- lock (motionIOLock)
- {
- //Thread.Sleep(15);
- int nMotionIoSts = 0;
- nMotionIoSts = APS168.APS_motion_io_status(nAxis);
- if (nMotionIoSts < 0)
+ var ret = GTSCardAPI.GT_Stop((short)IConfig.CardNum, 1 << (axisNum - 1), option);
+ if (ret != (short)GTSRetCode.GRCRunOK)
{
- return false;
+ 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);
}
-
- bool isAlarm = Convert.ToBoolean(nMotionIoSts & (1 << (int)MOTION_IOSTATUS.ALM));
- if (strcMotionIoSts.ALM != isAlarm)
+ else
{
- strcMotionIoSts.ALM = isAlarm;
- OnMotionAlarm?.Invoke(nAxis, isAlarm);
+ LogAsync(DateTime.Now, "杞�" + axisNum + "杩愬姩鍋滄", "");
}
+ int repeatTime = 100;
+ do
+ {
+ isStop = IsStop((short)axisNum);
+ Thread.Sleep(10);
+ repeatTime--;
+ } while (!isStop && repeatTime > 0);
- strcMotionIoSts.PEL = Convert.ToBoolean(nMotionIoSts & (1 << (int)MOTION_IOSTATUS.PEL));
- strcMotionIoSts.MEL = Convert.ToBoolean(nMotionIoSts & (1 << (int)MOTION_IOSTATUS.MEL));
- strcMotionIoSts.ORG = Convert.ToBoolean(nMotionIoSts & (1 << (int)MOTION_IOSTATUS.ORG));
- strcMotionIoSts.EMG = Convert.ToBoolean(nMotionIoSts & (1 << (int)MOTION_IOSTATUS.EMG));
- strcMotionIoSts.INP = Convert.ToBoolean(nMotionIoSts & (1 << (int)MOTION_IOSTATUS.INP));
- strcMotionIoSts.SVON = Convert.ToBoolean(nMotionIoSts & (1 << (int)MOTION_IOSTATUS.SVON));
- }
- return true;
- }
-
- public void MoveStop(bool emergencyStop = false)
- {
- int option = 0;
- if (emergencyStop)
- {
- option = 1;
- StateChange(EnumHelper.DeviceState.DSExcept);
- }
-
- IConfig.AxisSettings.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>
- {
- MoveStop(axisNum.AxisIndex, option);
+ 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="cardn">鍗″彿</param>
+ /// <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(short cardn, short axisn, short home_mode, short home_dir, int homeoffset)
+ public bool GoHome(MovingOption movingOption)
{
try
{
- GTSCardAPI.GT_ZeroPos(cardn, axisn, 1);
+ GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);
GTSCardAPI.THomePrm thomeprm;
GTSCardAPI.THomeStatus homests;
- short rtn = GTSCardAPI.GT_GetHomePrm(cardn, axisn, out thomeprm);
- thomeprm.mode = home_mode;//鍥為浂鏂瑰紡
- thomeprm.moveDir = home_dir;//鍥為浂鏂瑰悜
- thomeprm.edge = 0;
- thomeprm.velHigh = 50;
- thomeprm.velLow = 50;
- thomeprm.acc = 50;
- thomeprm.dec = 50;
- thomeprm.searchHomeDistance = 9999999;//鎼滄悳璺濈
- thomeprm.homeOffset = 0; //鍋忕Щ璺濈
- thomeprm.escapeStep = 1000;
- rtn = GTSCardAPI.GT_GoHome(cardn, axisn, ref thomeprm); //鍚姩鍥為浂
+ 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
- while (true)
+ bool isStop = false;
+ int repeatTime = 1000;
+ do
{
- Thread.Sleep(5);
- GTSCardAPI.GT_GetHomeStatus(cardn, axisn, out homests);
- if (homests.run == 0)
+ Thread.Sleep(10);
+ GTSCardAPI.GT_GetHomeStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out homests);
+
+ isStop = homests.run == 0;
+ if (isStop && homests.error == 0)
{
- if (homests.error == 0)
- {
- Thread.Sleep(200);
- GTSCardAPI.GT_ZeroPos(cardn, axisn, 1);
- }
- return true;
+ Thread.Sleep(200);
+ GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);
}
- }
+ repeatTime--;
+ } while (!isStop && repeatTime > 0);
+
+ return isStop;
}
catch (Exception ex)
{
- MoveStop();
+ AllMoveStop(true);
OnExceptionRaised?.Invoke(ex);
return false;
}
}
/// <summary>
- /// 鍥炲師鐐�
- /// </summary>
- /// <param name="axisId"></param>
- public void StartHoming(int axisId)
- {
- try
- {
- //servo on
- APS168.APS_set_servo_on(axisId, 1);
- Thread.Sleep(500); // Wait stable.
-
- // 2. Start home move
- APS168.APS_home_move(axisId);
-
- WaitHomeFinish(axisId);
-
- axisDestination[axisId] = 0;
- }
- catch (Exception ex)
- {
- MoveStop();
- OnExceptionRaised?.Invoke(ex);
- }
- }
-
- /// <summary>
- /// 鍥炲師鐐�
- /// </summary>
- /// <param name="axisId"></param>
- /// <param name="homeMode"></param>
- /// <param name="homeDir"></param>
- /// <param name="praCurve"></param>
- /// <param name="praAcc"></param>
- /// <param name="praVm"></param>
- public void StartHoming(int axisId, int homeMode, int homeDir, double praCurve, double praAcc, double praVm)
- {
- // 1. Select home mode and config home parameters
- APS168.APS_set_axis_param(axisId, (Int32)APS_Define.PRA_HOME_MODE, homeMode); // Set home mode
- APS168.APS_set_axis_param(axisId, (Int32)APS_Define.PRA_HOME_DIR, homeDir); // Set home direction
- APS168.APS_set_axis_param_f(axisId, (Int32)APS_Define.PRA_HOME_CURVE, praCurve); // Set acceleration paten (T-curve)
- APS168.APS_set_axis_param_f(axisId, (Int32)APS_Define.PRA_HOME_ACC, praAcc); // Set homing acceleration rate
- APS168.APS_set_axis_param_f(axisId, (Int32)APS_Define.PRA_HOME_VM, praVm); // Set homing maximum velocity.
- APS168.APS_set_axis_param_f(axisId, (Int32)APS_Define.PRA_HOME_VO, praVm / 5); // Set homing VO speed
- APS168.APS_set_axis_param_f(axisId, (Int32)APS_Define.PRA_HOME_EZA, 0); // Set EZ signal alignment (yes or no)
- APS168.APS_set_axis_param_f(axisId, (Int32)APS_Define.PRA_HOME_SHIFT, 0); // Set home position shfit distance.
- APS168.APS_set_axis_param_f(axisId, (Int32)APS_Define.PRA_HOME_POS, 0); // Set final home position.
-
- StartHoming(axisId);
- }
-
- /// <summary>
- /// 鍥炲師鐐圭粨鏉�
- /// </summary>
- /// <param name="axisNum"></param>
- /// <returns></returns>
- public void WaitHomeFinish(int axisNum)
- {
- MOTION_IO_STATUS MotionIoSts = new MOTION_IO_STATUS();
- MOTION_BOOL_STATUS MotionSts = new MOTION_BOOL_STATUS();
- var axisSetting = IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == axisNum);
- int startTime = System.Environment.TickCount;
- while ((GetMotionIoStatus(axisNum, ref MotionIoSts)) && (GetMotionStatus(axisNum, ref MotionSts)))
- {
- if (MotionIoSts.EMG)
- {
- LogAsync(DateTime.Now, "杞村浣嶄腑" + axisNum + "鎬ュ仠", "");
- throw new Exception("杞村浣嶄腑" + axisNum + "鎬ュ仠");
- }
-
- if (axisSetting.HomeMode == 0)
- {
- if (!MotionSts.HMV && MotionIoSts.ORG)
- break;
- }
- else
- {
- if (!MotionSts.HMV)
- break;
- }
-
- if (axisSetting.TimeOutHome < System.Environment.TickCount - startTime)
- {
- LogAsync(DateTime.Now, "杞村浣嶄腑" + axisNum + "鍥炲師鐐硅秴鏃�", "");
- MoveStop(axisNum);
- throw new Exception("杞村浣嶄腑" + axisNum + "鍥炲師鐐硅秴鏃�");
- }
- }
-
- //ClearPosition(axisNum);
- }
-
- static object _ioLock = new object();
- /// <summary>
- /// 璁剧疆IO鍗¤緭鍑�
- /// </summary>
- /// <param name="DINo">IO绔彛搴忓彿</param>
- /// <param name="Value">璁剧疆鍊�(true:楂樼數骞筹紝 false:浣庣數骞�)</param>
- /// <returns></returns>
- public bool SetOutput(int DINo, bool Value)
- {
- if (OnCheckOutputAllowed?.Invoke(DINo, Value, new Dictionary<int, int>(axisDestination.ToDictionary(u => u.Key, u => u.Value))) ?? false)
- {
- OnExceptionRaised?.Invoke(new AMPRunException(DINo + "杈撳嚭" + Value.ToString() + "涓嶈鍏佽", null));
- return false;
- }
-
- int ret = -1;
- lock (_ioLock)
- {
- ret = APS168.APS_write_d_channel_output(0, 0, DINo, Value ? 1 : 0);
- }
- if (ret < 0)
- {
- return false;
- }
- return true;
- }
-
- /// <summary>
- /// 鑾峰彇杈撳叆淇″彿
- /// </summary>
- /// <param name="stateType"></param>
- /// <returns></returns>
- public bool[] GetInputState()
- {
- int diVaule = 0;
-
- lock (_ioLock)
- {
- APS168.APS_read_d_input(0, 0, ref diVaule);
- }
- return GetBoolSig(diVaule);
- //return new bool[16];
- }
-
- /// <summary>
- /// 鑾峰彇杈撳嚭淇″彿
- /// </summary>
- /// <param name="stateType"></param>
- /// <returns></returns>
- public bool[] GetOutputState()
- {
- int doVaule = 0;
-
- lock (_ioLock)
- {
- APS168.APS_read_d_output(0, 0, ref doVaule);
- }
-
- return GetBoolSig(doVaule);
-
- }
-
- /// <summary>
- /// 灏嗘棤绗﹀彿鏁村瀷杞崲涓築ool鍨嬫暟缁�
- /// </summary>
- /// <param name="sigStr"></param>
- /// <returns></returns>
- private bool[] GetBoolSig(int sigStr)
- {
- bool[] state = new bool[32];
-
- for (int i = 0; i < 32; i++)
- {
- state[i] = (sigStr & (1 << i)) != 0;
- }
- return state;
- }
-
- /// <summary>
- /// 灏哹ool鏁扮粍杞崲鎴愭棤绗﹀彿鏁村瀷
- /// </summary>
- /// <param name="sigArray"></param>
- /// <returns></returns>
- private int GetintSig(bool[] sigArray)
- {
- int state = -1;
-
- for (int i = 31; i > -1; i--)
- {
- state = (state << 1) + (sigArray[i] ? 1 : 0);
- }
-
- return state;
- }
-
- /// <summary>
- /// 璇诲彇杈撳叆
+ /// 璇诲彇IO杈撳叆
/// </summary>
/// <param name="cardNum">鍗″彿</param>
/// <param name="index">杈撳叆鍙�</param>
@@ -997,166 +818,329 @@
{
int value;
GTSCardAPI.GT_GetDi(cardNum, GTSCardAPI.MC_GPI, out value);
- if ((value & 1 << index) == 0) return true;//鏈夎緭鍏ヨ繑鍥瀟rue
+ if ((value & (1 << index)) == 0) return true;//鏈夎緭鍏ヨ繑鍥瀟rue
else return false; //鏃犺緭鍏ヨ繑鍥瀎alse
}
/// <summary>
- /// 杈撳嚭
+ /// 璇诲彇IO杈撳嚭
/// </summary>
- /// <param name="cardNum">鍗″彿</param>
- /// <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>
- public void WriteOut(short cardNum, short index, bool value)
- {
- short outNum = (short)(index % 100 + 1);
- if (value)
- {
- GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 0);
- }
- else
- {
- GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 1);
- }
- }
-
- /// <summary>
- /// 鍋滄 鏌愪釜杞�
- /// </summary>
- /// <param name="cardNum">鍗″彿</param>
- /// <param name="axisNum">杞村彿</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);
- }
-
- /// <summary>
- /// 鍋滄 鏌愪釜杞达紙寮傛锛�
- /// </summary>
- /// <param name="cardNum">鍗″彿</param>
- /// <param name="axisNum">杞村彿</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 async Task StopAsync(short cardNum, short axisNum, short option)
- {
- await Task.Run(() =>
- {
- GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), option);
- });
- }
-
- /// <summary>
- /// 鍋滄 鏌愪釜杞�
- /// </summary>
- /// <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 emergencyStop)
- {
- if (emergencyStop)
- {
- GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 1 << (axisNum - 1));
- }
- else
- {
- GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 0);
- }
- }
-
- /// <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++)
- {
- Stop(cardNum, i, value);
- }
- }
-
- /// <summary>
- /// IO杈撳嚭
- /// </summary>
- /// <param name="cardNum">鍗″彿</param>
- /// <param name="mdl">妯″潡鍙�</param>
- /// <param name="index">IO杈撳嚭</param>
- /// <param name="value">true琛ㄧず杈撳嚭锛宖alse琛ㄧず鏃犺緭鍑�</param>
- public void MC_WriteDigitalOutput(short cardNum, short mdl, short index, bool value)
- {
- if (value)
- {
- GTSCardAPI.GT_SetExtIoBit(cardNum, mdl, index, 0);
- }
- else
- {
- GTSCardAPI.GT_SetExtIoBit(cardNum, mdl, index, 1);
- }
- }
-
- /// <summary>
- /// 璇诲彇IO杈撳嚭鐘舵��
- /// </summary>
- /// <param name="cardNum"></param>
- /// <param name="index"></param>
+ /// <param name="index">io绱㈠紩</param>
/// <returns></returns>
- public bool GetDoSts(short cardNum, short index)
+ public bool GetDoSts(short index)
{
- short outNum = 0;
int outSts;
- outNum = (short)(index % 100);
- GTSCardAPI.GT_GetDo(cardNum, GTSCardAPI.MC_GPO, out outSts);
+ short outNum = (short)(index % 100);
+ GTSCardAPI.GT_GetDo((short)IConfig.CardNum, GTSCardAPI.MC_GPO, out outSts);
if ((outSts & (1 << outNum)) == 0) return true;
else return false;
}
-
-
-
/// <summary>
- /// 璇诲彇褰撳墠鍊�
+ /// 鎸変綅璁剧疆鏁板瓧 IO 杈撳嚭鐘舵��
/// </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)
+ /// <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>
+ public override void WriteOutput(short index, IOValue value)
{
- lock (lockObj)
+ short outNum = (short)(index % 100 + 1);
+ if ((int)value <= 1)
{
- double prfpos = 0; uint pclock = 0;
- GTSCardAPI.GT_GetPrfPos(cardNum, axisNum, out prfpos, 1, out pclock);
- return prfpos / IConfig.AxisVelocityRatio;
+ GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)value);
+ }
+ else
+ {
+ var currentValue = (int)MonitorValues.FirstOrDefault(u => u.IONum == outNum && u.IOType == IOType.OUTPUT).Value;
+ GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)(currentValue == 1 ? 0 : 1));
}
}
/// <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)
+ public bool IsStop(short axisNum)
{
- lock (lockObj)
+ int sts = GetAxisStatus(axisNum);
+ if ((sts & 0x400) == 0) return true;//鍋滄杩斿洖true
+ else return false; //杩愯涓繑鍥瀎alse
+ }
+
+ /// <summary>
+ /// 璇诲彇杞寸姸鎬�
+ /// </summary>
+ /// <param name="cardNum">鏉垮崱鍙�</param>
+ /// <param name="axisNum">杞村彿</param>
+ /// <returns></returns>
+ public int GetAxisStatus(int axisNum)
+ {
+ lock (moveLock)
{
int sts = 0;
uint pclock = 0;
- GTSCardAPI.GT_GetSts(cardNum, axisNum, out sts, 1, out pclock);
- if ((sts & 0x400) == 0) return true;//鍋滄杩斿洖true
- else return false; //杩愯涓繑鍥瀎alse
+ GTSCardAPI.GT_GetSts((short)IConfig.CardNum, (short)axisNum, out sts, 1, out pclock);
+ return sts;
}
}
#endregion
- public void Monitor()
+ #region IMonitor
+
+ public List<AxisMovingStatus> GetAxisMovingStatus()
{
- throw new NotImplementedException();
+ List<AxisMovingStatus> axisMovingStatusesList = new List<AxisMovingStatus>();
+ foreach (var axisConfig in IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled))
+ {
+ AxisMovingStatus axisMovingStatus = new AxisMovingStatus();
+ axisMovingStatus.AxisIndex = axisConfig.AxisIndex;
+ axisMovingStatus.AxisName = axisConfig.AxisName;
+ 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.AxisStatus = GetAxisStatus(axisMovingStatus.AxisIndex);
+
+ axisMovingStatusesList.Add(axisMovingStatus);
+
+ }
+
+ return axisMovingStatusesList;
}
- public void ResetAlarm()
+
+ public List<IOItem> GetMonitorValues()
{
- throw new NotImplementedException();
+ var result = new List<IOItem>();
+ //璇诲彇IO杈撳叆
+ int inValue;
+ GTSCardAPI.GT_GetDi((short)IConfig.CardNum, GTSCardAPI.MC_GPI, out inValue);
+ //璇诲彇IO杈撳嚭
+ int outValue;
+ GTSCardAPI.GT_GetDo((short)IConfig.CardNum, GTSCardAPI.MC_GPO, out outValue);
+
+ //瑙ｆ瀽缁撴灉
+ for (var index = 1; index <= 16; index++)
+ {
+ IOItem inItem = new IOItem()
+ {
+ IONum = index,
+ Value = (inValue & (1 << index)) == 0 ? IOValue.TRUE : IOValue.FALSE,
+ IOType = IOType.INPUT
+ };
+ IOItem outItem = new IOItem()
+ {
+ IONum = index,
+ Value = (outValue & (1 << index)) == 0 ? IOValue.TRUE : IOValue.FALSE,
+ IOType = IOType.OUTPUT
+ };
+ result.Add(inItem);
+ result.Add(outItem);
+ }
+
+ return result;
}
+
+ public async override void Monitor()
+ {
+ await Task.Run(() =>
+ {
+ while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept && CurrentState != EnumHelper.DeviceState.DSUninit)
+ {
+ try
+ {
+ if (!IConfig.IsEnableMonitor)
+ return;
+ var newValues = GetMonitorValues();
+ var newAxisMovingStatus = GetAxisMovingStatus();
+ if (newValues == null || newValues.Count == 0 || newAxisMovingStatus == null || newAxisMovingStatus.Count == 0)
+ continue;
+
+ Stopwatch sw = new Stopwatch();
+ sw.Start();
+ if (MonitorValues.Count == newValues.Count)
+ {
+ var tempNew = newValues.DeepSerializeClone();//clone
+ var tempOld = MonitorValues.DeepSerializeClone();
+ MonitorCheckAndInvoke(tempNew, tempOld);
+ }
+
+ AxisMovingOptionValues = new List<AxisMovingStatus>(newAxisMovingStatus);
+ MonitorValues = new List<IOItem>(newValues);
+ sw.Stop();
+
+ if (sw.ElapsedMilliseconds > 20)
+ {
+ LogAsync(DateTime.Now, $"{this.Name}杞鏃堕棿锛歿sw.ElapsedMilliseconds}", "");
+ }
+
+ if (IConfig.MonitorInterval > 0)
+ {
+ Thread.Sleep(IConfig.MonitorInterval);
+ }
+
+ }
+ catch (Exception ex)
+ {
+ if (CurrentState == DeviceState.DSOpen)
+ {
+ LogAsync(DateTime.Now, $"{this.Name}鐩戝惉寮傚父", ex.GetExceptionMessage());
+ }
+ }
+ }
+ });
+ }
+
+ public override void OnMethodInvoked(IAsyncResult ar)
+ {
+ MotionCardMonitorSet monitorSet = ar.AsyncState as MotionCardMonitorSet;
+ ProcessResponse resValues = monitorSet.Response;
+ if (resValues.ResultValue == (int)ReplyValue.IGNORE)
+ {
+ return;
+ }
+
+ Stopwatch sw = new Stopwatch();
+ sw.Start();
+ // 灏嗘寚瀹欼OItem鍐欏叆鏉垮崱
+ foreach (var replyIOData in monitorSet.ReplyIODatas)
+ {
+ //鍐欏叆IO杈撳嚭
+ if (replyIOData.IOType == IOType.OUTPUT)
+ {
+ GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPI, (short)replyIOData.IONum, (short)replyIOData.Value);
+ }
+ // in鍙涓嶈兘鍐�
+ }
+ sw.Stop();
+ LogAsync(DateTime.Now, $"{Name}鍙嶉瀹屾垚锛岃�楁椂{sw.ElapsedMilliseconds}ms", $"{resValues.GetDisplayText()}");
+ }
+
+ protected void MonitorCheckAndInvoke(List<IOItem> tempNew, List<IOItem> tempOld)
+ {
+ #region 璀︽姤淇℃伅
+ Parallel.ForEach(IConfig.WarningSetCollection, wSet =>
+ {
+ MotionCardWarningSet warningSet = wSet as MotionCardWarningSet;
+
+ bool isOn = (((int)((tempNew.FirstOrDefault(u => u.IONum == warningSet.TriggerIndex && u.IOType == warningSet.WarningIOModel)?.Value)) >> warningSet.TriggerIndex) & 1) == (warningSet.TriggerValue ? 1 : 0);
+
+ if (warningSet.CurrentStatus != isOn)
+ {
+ warningSet.CurrentStatus = isOn;
+ warningSet.TriggerTime = DateTime.Now;
+ SaveAlarmCSVAsync(DateTime.Now, this.Name, warningSet);
+ ExcuteMonitorAlarm(DateTime.Now, this, warningSet);
+ }
+ });
+ #endregion
+
+ #region 鐩戝惉淇℃伅
+ Parallel.ForEach(IConfig.MonitorSetCollection, mSet =>
+ {
+ MotionCardMonitorSet monitorSet = mSet as MotionCardMonitorSet;
+ if (monitorSet.TriggerIndex < 0 || monitorSet.TriggerIndex > tempNew.Count)
+ {
+ return;
+ }
+
+ var newIOItem = tempNew.FirstOrDefault(u => u.IONum == monitorSet.TriggerIndex);
+ var oldIOItem = tempOld.FirstOrDefault(u => u.IONum == monitorSet.TriggerIndex);
+
+ if (newIOItem?.Value != oldIOItem?.Value)
+ {
+ if (monitorSet.TriggerValue == -999 || (int)newIOItem.Value == monitorSet.TriggerValue)
+ {
+ if (monitorSet.OpConfig == null)
+ {
+ monitorSet.OpConfig = new OperationConfigBase();
+ }
+
+ //monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
+ //{
+ // return tempNew[index].Value;
+ //}).ToList();
+
+ ExcuteMonitorInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet);
+ }
+ }
+ });
+ #endregion
+ }
+
+ public override void ResetAlarm()
+ {
+ int axis_sts;
+ var axisSettings = IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled);
+ GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, 1, (short)axisSettings.Count);
+ foreach (var axisSetting in axisSettings)
+ {
+ axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
+ 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);
+ }
+
+ object _alarmLock = new object();
+ private async void SaveAlarmCSVAsync(DateTime now, string plcName, IWarningSet ws)
+ {
+ await Task.Run(() =>
+ {
+ lock (_alarmLock)
+ {
+ DirectoryInfo dir = new DirectoryInfo(this.IConfig.LogPath);
+ if (!dir.Exists)
+ {
+ dir.Create();
+ }
+
+ string path = Path.Combine(IConfig.LogPath, $"Alarm_{Name}_{now.ToString("yyyyMMdd")}.csv");
+ bool fileExist = File.Exists(path);
+
+ using (StreamWriter writer = new StreamWriter(path, true, System.Text.Encoding.UTF8))
+ {
+ if (!fileExist)
+ {
+ writer.WriteLine("Time,Source,AlarmCode,AlarmDescription,AlarmStatus");
+ }
+
+ writer.WriteLine($"{now.ToString("HH:mm:ss.fff")},{plcName},{ws.WarningCode},{ws.WarningDescription},{(ws.CurrentStatus ? "鎶ヨ" : "鍋滄")}");
+
+ writer.Flush();
+ writer.Close();
+ }
+ }
+ });
+ }
+ #endregion
}
}
--
Gitblit v1.8.0