From 5bf1b91009a182188d6d2245aa71653801eea60b Mon Sep 17 00:00:00 2001
From: wells <123>
Date: 星期日, 12 七月 2020 18:09:54 +0800
Subject: [PATCH] debug
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 230 ++++++++++++++++++++++++++++++++++-----------------------
1 files changed, 136 insertions(+), 94 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index a09fda2..a917333 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -118,11 +118,17 @@
{
foreach (var operationSet in motionCardOperationConfig.OperationCollection)
{
+ if (operationSet.DelayBefore > 0)
+ Thread.Sleep(operationSet.DelayBefore);
+
responseMessage = RunOperationSet(operationSet);
if (!responseMessage.Result)
{
return responseMessage;
}
+
+ if (operationSet.DelayAfter > 0)
+ Thread.Sleep(operationSet.DelayAfter);
}
}
return responseMessage;
@@ -177,13 +183,16 @@
{
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;
- }
+ WriteOutput((short)ioOutput.IOItem.IONum, ioOutput.CheckValue);
+
+ //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;
+ //}
}
}
@@ -338,15 +347,22 @@
ResponseMessage responseMessage = new ResponseMessage();
if (opConfig is MotionOperationCollection gtsOperationCollection)
{
- List<Task<bool>> taskList = new List<Task<bool>>();
- foreach (var movingOp in gtsOperationCollection.MovingOps)
+ //List<Task<bool>> taskList = new List<Task<bool>>();
+ //foreach (var movingOp in gtsOperationCollection.MovingOps)
+ //{
+ // var task = SingleAxisMoving(movingOp);
+ // taskList.Add(task);
+ // task.Start();
+ //}
+ //Task.WaitAll(taskList.ToArray());
+ //responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
+
+ List<bool> resultList = new List<bool>();
+ Parallel.ForEach(gtsOperationCollection.MovingOps, movingOp =>
{
- var task = SingleAxisMoving(movingOp);
- taskList.Add(task);
- task.Start();
- }
- Task.WaitAll(taskList.ToArray());
- responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
+ resultList.Add(SingleAxisMoving(movingOp).Result);
+ });
+ responseMessage.Result = resultList.All(u => u == true);
if (!responseMessage.Result)
{
responseMessage.Message = $"鐐逛綅杩愬姩寮傚父";
@@ -368,11 +384,23 @@
resultCode.Add(GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, axisIndex));
resultCode.Add(GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, axisIndex, out trapprm));
trapprm.smoothTime = 1;
- trapprm.acc = optionPara.VelocityPara.Acc != 0 ? optionPara.VelocityPara.Acc : 1;
- trapprm.dec = optionPara.VelocityPara.Dec != 0 ? optionPara.VelocityPara.Dec : 1;
+
+ if (optionPara.VelocityPara.Acc != 0)
+ {
+ trapprm.acc = optionPara.VelocityPara.Acc;
+ }
+
+ if (optionPara.VelocityPara.Dec != 0)
+ {
+ trapprm.dec = optionPara.VelocityPara.Dec;
+ }
resultCode.Add(GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, axisIndex, ref trapprm));
- resultCode.Add(GTSCardAPI.GT_SetVel((short)IConfig.CardNum, axisIndex, optionPara.VelocityPara.Velocity * IConfig.AxisVelocityRatio));
+
+ if (optionPara.VelocityPara.Velocity != 0)
+ {
+ resultCode.Add(GTSCardAPI.GT_SetVel((short)IConfig.CardNum, axisIndex, optionPara.VelocityPara.Velocity * IConfig.AxisVelocityRatio));
+ }
var resultOK = resultCode.All(u => u == (short)GTSRetCode.GRCRunOK);
if (!resultOK)
@@ -389,7 +417,7 @@
/// <param name="optionPara">杩愬姩鍙傛暟瀵硅薄</param>
public override Task<bool> SingleAxisMoving(MovingOption optionPara)
{
- return new Task<bool>(() =>
+ return Task.Run(() =>
{
axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
bool isSuccessAndStop = false;
@@ -397,10 +425,10 @@
{
if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
{
- string _position = "";
+ // 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},";
+ // _position = $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff},{optionPara.AxisIndex},{motionType},{GetPosition(optionPara.AxisIndex)},{GetPrfPosition(optionPara.AxisIndex)},{optionPara.Destination},";
switch (optionPara.MoveMode)
{
@@ -435,9 +463,9 @@
}
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)
@@ -680,7 +708,7 @@
short ret = 0;
bool isSuccessSetAxisParam = false;
int timeout = optionPara.MovingTimeout;
- var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex).AxisRatio;
+ //var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex).AxisRatio;
while (CurrentState == DeviceState.DSOpen && !_isPause)
{
//璁剧疆 杩愬姩鍙傛暟
@@ -774,63 +802,63 @@
var resultOK = taskList.All(u => u.GetAwaiter().GetResult());
}
- /// <summary>
- /// 鍥炲師鐐�
- /// </summary>
- /// <param name="movingOption">鍗″彿</param>
- /// <param name="axisn">杞村彿</param>
- /// <param name="homests">杞村洖鍘熺偣鐘舵��</param>
- public bool GoHome(MovingOption movingOption)
- {
- try
- {
- PositionReset(movingOption.AxisIndex, 1);
- GTSCardAPI.THomePrm thomeprm;
- GTSCardAPI.THomeStatus homests;
- // 鍚姩Home鎹曡幏
- short rtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
- // 鍒囨崲鍒扮偣浣嶈繍鍔ㄦā寮�
- rtn = GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)movingOption.AxisIndex);
- // 璇诲彇鐐逛綅妯″紡杩愬姩鍙傛暟
- rtn = GTSCardAPI.GT_GetHomePrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out thomeprm);
+ ///// <summary>
+ ///// 鍥炲師鐐�
+ ///// </summary>
+ ///// <param name="movingOption">鍗″彿</param>
+ ///// <param name="axisn">杞村彿</param>
+ ///// <param name="homests">杞村洖鍘熺偣鐘舵��</param>
+ //public bool GoHome(MovingOption movingOption)
+ //{
+ // try
+ // {
+ // PositionReset(movingOption.AxisIndex, 1);
+ // GTSCardAPI.THomePrm thomeprm;
+ // GTSCardAPI.THomeStatus homests;
+ // // 鍚姩Home鎹曡幏
+ // short rtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
+ // // 鍒囨崲鍒扮偣浣嶈繍鍔ㄦā寮�
+ // rtn = GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)movingOption.AxisIndex);
+ // // 璇诲彇鐐逛綅妯″紡杩愬姩鍙傛暟
+ // 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;//鎼滅储璺濈
- 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
+ // 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;//鎼滅储璺濈
+ // thomeprm.homeOffset = movingOption.GoHomePara.HomeOffset; //鍋忕Щ璺濈
+ // thomeprm.escapeStep = movingOption.GoHomePara.EscapeStep;
+ // rtn = GTSCardAPI.GT_GoHome((short)IConfig.CardNum, (short)movingOption.AxisIndex, ref thomeprm); //鍚姩鍥為浂
- bool isStop = false;
- int repeatTime = 1000;
- do
- {
- Thread.Sleep(10);
- GTSCardAPI.GT_GetHomeStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out homests);
+ // bool isStop = false;
+ // int repeatTime = 1000;
+ // do
+ // {
+ // Thread.Sleep(10);
+ // GTSCardAPI.GT_GetHomeStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out homests);
- isStop = homests.run == 0;
- if (isStop && homests.error == 0)
- {
- Thread.Sleep(200);
- PositionReset(movingOption.AxisIndex, 1);
- }
- repeatTime--;
- } while (!isStop && repeatTime > 0);
+ // isStop = homests.run == 0;
+ // if (isStop && homests.error == 0)
+ // {
+ // Thread.Sleep(200);
+ // PositionReset(movingOption.AxisIndex, 1);
+ // }
+ // repeatTime--;
+ // } while (!isStop && repeatTime > 0);
- return isStop;
- }
- catch (Exception ex)
- {
- AllMoveStop(true);
- OnExceptionOccured?.Invoke(DateTime.Now, ex);
- return false;
- }
- }
+ // return isStop;
+ // }
+ // catch (Exception ex)
+ // {
+ // AllMoveStop(true);
+ // OnExceptionOccured?.Invoke(DateTime.Now, ex);
+ // return false;
+ // }
+ //}
/// <summary>
/// P2P鏂瑰紡鍥炲師鐐�
@@ -840,8 +868,11 @@
{
try
{
+ StartCapture:
+
PositionReset(movingOption.AxisIndex, 1);
ClearStatus(movingOption.AxisIndex, 1);
+
GTSCardAPI.TTrapPrm trapPrm;
bool isStop = false;
//鎼滅储璺濈 闃舵1
@@ -857,8 +888,9 @@
sRtn = GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, ref trapPrm);
// 璁剧疆鐐逛綅妯″紡鐩爣閫熷害锛屽嵆鍥炲師鐐归�熷害
sRtn = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)movingOption.AxisIndex, movingOption.GoHomePara.HighVelocity);
+
// 璁剧疆鐐逛綅妯″紡鐩爣浣嶇疆锛屽嵆鍘熺偣鎼滅储璺濈
- sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, movingOption.GoHomePara.SearchHomeDistance);
+ sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, movingOption.GoHomePara.HomeDir == 1 ? 99999999 : -99999999);
// 鍚姩杩愬姩
sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
@@ -880,10 +912,19 @@
MoveStop((short)movingOption.AxisIndex, 0);
throw new ProcessException($"杩愬姩杞磠movingOption.AxisIndex} 锛屽洖鍘熺偣瓒呮椂寮傚父");
}
+
if (isStop && capture != 1)
{
-
ClearStatus((short)movingOption.AxisIndex, 1);
+
+ var axisStatus = AxisStatusList.FirstOrDefault(u => u.AxisIndex == movingOption.AxisIndex);
+
+ if (((axisStatus.AxisStatus & 0x20) != 0) || ((axisStatus.AxisStatus & 0x40) != 0))
+ {
+ movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);
+ goto StartCapture;
+ }
+
throw new ProcessException($"杩愬姩杞磠movingOption.AxisIndex} 锛屽洖鍘熺偣瓒呮椂寮傚父");
}
@@ -957,7 +998,7 @@
short outNum = (short)(index % 100 + 1);
if ((int)value <= 1)
{
- GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)value);
+ GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, IConfig.IsOutputReversed ? (short)(value == IOValue.TRUE ? 0 : 1) : (short)value);
}
else
{
@@ -1091,8 +1132,8 @@
if (newValues == null || newValues.Count == 0 || newAxisMovingStatus == null || newAxisMovingStatus.Count == 0)
continue;
- Stopwatch sw = new Stopwatch();
- sw.Start();
+ //Stopwatch sw = new Stopwatch();
+ //sw.Start();
if (MonitorValues.Count == newValues.Count)
{
//var tempNew = newValues.DeepSerializeClone();//clone
@@ -1111,12 +1152,12 @@
AxisStatusList = new List<AxisMovingStatus>(newAxisMovingStatus);
MonitorValues = new List<IOItem>(newValues);
- sw.Stop();
+ //sw.Stop();
- if (sw.ElapsedMilliseconds > 20)
- {
- LogAsync(DateTime.Now, $"{this.Name}杞鏃堕棿锛歿sw.ElapsedMilliseconds}", "");
- }
+ //if (sw.ElapsedMilliseconds > 20)
+ //{
+ // LogAsync(DateTime.Now, $"{this.Name}杞鏃堕棿锛歿sw.ElapsedMilliseconds}", "");
+ //}
if (IConfig.MonitorInterval > 0)
{
@@ -1223,10 +1264,11 @@
monitorSet.OpConfig = new OperationConfigBase();
}
- monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
- {
- return tempNew[index].Value == IOValue.TRUE ? 1 : 0;
- }).ToList();
+ //monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
+ //{
+ // return tempNew[index].Value == IOValue.TRUE ? 1 : 0;
+ //}).ToList();
+ monitorSet.OpConfig.InputPara = new List<int>() { (int)newIOItem.Value };
ExcuteMonitorInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet);
}
@@ -1248,8 +1290,8 @@
{
var rst = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisSetting.AxisIndex);
}
- // 鎵�鏈変綅缃闆�
- PositionReset(1, axisSettings.Count);
+ //// 鎵�鏈変綅缃闆�
+ //PositionReset(1, axisSettings.Count);
// 姝ｆ瀬闄愭姤璀�
if ((axis_sts & 0x20) != 0)
{
--
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