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 | 743 ++++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 558 insertions(+), 185 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index e96d00c..c2cc8e6 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -6,7 +6,9 @@
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;
@@ -16,16 +18,12 @@
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
{
@@ -39,12 +37,19 @@
/// </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();
}
@@ -54,16 +59,24 @@
protected override void Init()
{
InitialMotionCard();
+ axisImmediatePauseHandleDict = IConfig.AxisSettings.ToDictionary(a => a.AxisIndex, a => new ManualResetEvent(true));
+ axisMoveCancelDict = IConfig.AxisSettings.ToDictionary(a => a.AxisIndex, a => new CancellationTokenSource());
+
+ axisMoveCancelDict.Values.ToList().ForEach(c =>
+ {
+ c = new CancellationTokenSource();
+ });
}
+ ManualResetEvent _pauseHandle = new ManualResetEvent(true);
protected override void Pause()
{
- throw new NotImplementedException();
+
}
protected override void Resume()
{
- throw new NotImplementedException();
+
}
protected override void Start()
@@ -75,6 +88,155 @@
{
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
@@ -95,6 +257,7 @@
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()
{
@@ -155,26 +318,27 @@
/// </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)
+ public override ResponseMessage 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)
+ ResponseMessage responseMessage = new ResponseMessage();
+ if (opConfig is MotionOperationCollection gtsOperationCollection)
{
- //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());
+ _pauseHandle.WaitOne();
+ List<Task<bool>> taskList = new List<Task<bool>>();
+ foreach (var movingOp in gtsOperationCollection.MovingOps)
+ {
+ var task = SingleAxisMoving(movingOp);
+ taskList.Add(task);
+ }
- return resultOK;
+ Task.WaitAll(taskList.ToArray());
+ responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
+ if (!responseMessage.Result)
+ {
+ responseMessage.Message = $"鐐逛綅杩愬姩寮傚父";
+ }
+ }
+ return responseMessage;
}
/// <summary>
@@ -212,48 +376,58 @@
return await Task.Run(() =>
{
bool isSuccessAndStop = false;
- if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
+ try
{
- 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)
+ if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
{
- 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;
- }
+ axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
- if (optionPara.IsAbsolute)
- {
- isSuccessAndStop = P2PMoveAbs(optionPara);
- }
- else
- {
- isSuccessAndStop = P2PMoveRel(optionPara);
- }
+ string _position = "";
+ string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();
- }
- break;
- case MotorMoveMode.FindOri:
- {
- isSuccessAndStop = GoHome(optionPara);
- }
- break;
- case MotorMoveMode.Jog:
- {
- isSuccessAndStop = JogMove(optionPara);
- }
- break;
+ _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);
}
- _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;
});
@@ -266,18 +440,15 @@
/// <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)
{
- 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;
+ 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>
@@ -301,6 +472,40 @@
}
}
+ /// <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>
/// Set Single Axis Do Jog Move
@@ -327,8 +532,8 @@
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);
+ 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);
@@ -340,29 +545,6 @@
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>
@@ -402,11 +584,11 @@
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
+ int timeout = optionPara.MovingTimeout;
+ while (CurrentState == DeviceState.DSOpen)
{
//璁剧疆 杩愬姩鍙傛暟
isSuccessSetAxisParam = SetAxisParam(optionPara);
@@ -418,15 +600,19 @@
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);
+ timeout -= 50;
+ if ((ret == (short)GTSRetCode.GRCRunOK && isSuccessSetAxisParam) || (optionPara.MovingTimeout > 0 && timeout < 0))
+ {
+ break;
+ }
+ }
//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);
+ isStop = IsStop((short)optionPara.AxisIndex);
Thread.Sleep(50);
repeatTime--;
} while (!isStop && repeatTime > 0);
@@ -449,6 +635,8 @@
{
try
{
+ axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
+
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");
@@ -473,9 +661,9 @@
}
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
+ int timeout = optionPara.MovingTimeout;
+ while (CurrentState == DeviceState.DSOpen)
{
//璁剧疆 杩愬姩鍙傛暟
isSuccessSetAxisParam = SetAxisParam(optionPara);
@@ -487,14 +675,18 @@
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);
+ timeout -= 50;
+ if ((ret == (short)GTSRetCode.GRCRunOK && isSuccessSetAxisParam) || (optionPara.MovingTimeout > 0 && timeout < 0))
+ {
+ break;
+ }
+ }
bool isStop = false;
repeatTime = 1000;
do
{
- isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
+ isStop = IsStop((short)optionPara.AxisIndex);
Thread.Sleep(50);
repeatTime--;
} while (!isStop && repeatTime > 0);
@@ -510,7 +702,7 @@
}
/// <summary>
- /// 杩愬姩鍋滄
+ /// 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>
@@ -537,7 +729,7 @@
int repeatTime = 100;
do
{
- isStop = IsStop((short)IConfig.CardNum, (short)axisNum);
+ isStop = IsStop((short)axisNum);
Thread.Sleep(10);
repeatTime--;
} while (!isStop && repeatTime > 0);
@@ -617,7 +809,7 @@
}
/// <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>
@@ -626,80 +818,41 @@
{
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"></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>
- /// 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>
+ /// 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>
+ public override void WriteOutput(short index, IOValue value)
+ {
+ short outNum = (short)(index % 100 + 1);
+ if ((int)value <= 1)
+ {
+ 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>
@@ -708,34 +861,222 @@
/// <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)
+ {
+ 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()
+ {
+ 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;
- 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);
+ axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
if ((axis_sts & 0x200) == 0)
{
var rst = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisSetting.AxisIndex);
@@ -769,5 +1110,37 @@
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
}
}
--
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