From 65faad811883efc4264e3a5ca2c4e64340c198f5 Mon Sep 17 00:00:00 2001 From: wells.liu <wells.liu@broconcentric.com> Date: 星期六, 04 七月 2020 13:02:28 +0800 Subject: [PATCH] 板卡运动 --- src/Bro.Device.GTSCard/GTSCardDriver.cs | 219 ++++++++++++++++++++++++++--------- src/Bro.Common.Model/Helper/StaticHelper.cs | 18 +++ src/Bro.Common.Device/DeviceBase/MotionCardBase.cs | 5 src/Bro.Common.Model/Model/MotionCardRelated.cs | 103 +++++++++-------- 4 files changed, 233 insertions(+), 112 deletions(-) diff --git a/src/Bro.Common.Device/DeviceBase/MotionCardBase.cs b/src/Bro.Common.Device/DeviceBase/MotionCardBase.cs index 0f64dde..ca5ba82 100644 --- a/src/Bro.Common.Device/DeviceBase/MotionCardBase.cs +++ b/src/Bro.Common.Device/DeviceBase/MotionCardBase.cs @@ -161,10 +161,7 @@ [TypeConverter(typeof(CollectionCountConvert))] [Editor(typeof(ComplexCollectionEditor<MovingOption>), typeof(UITypeEditor))] public List<MovingOption> MovingOps { get; set; } = new List<MovingOption>(); - [Category("鏉垮崱杩愬姩閰嶇疆")] - [Description("瓒呮椂璁剧疆锛屽崟浣嶏細ms")] - [DisplayName("杩愬姩瓒呮椂")] - public int MovingTimeout { get; set; } = 0; + public string GetDisplayText() { diff --git a/src/Bro.Common.Model/Helper/StaticHelper.cs b/src/Bro.Common.Model/Helper/StaticHelper.cs index 47bb257..0c5de62 100644 --- a/src/Bro.Common.Model/Helper/StaticHelper.cs +++ b/src/Bro.Common.Model/Helper/StaticHelper.cs @@ -250,5 +250,23 @@ collection.Move(collection.IndexOf(sortedList[i]), i); } } + + // 甯冨皵绫诲瀷杞崲涓烘暣鍨� + public static int ToInt(this object obj) + { + if (Convert.ToBoolean(obj) == true) + return 1; + else + return 0; + } + + // 鏁村瀷杞崲涓哄竷灏旂被鍨� + public static bool ToBool(this object obj) + { + if (Convert.ToInt32(obj) == 1) + return true; + else + return false; + } } } diff --git a/src/Bro.Common.Model/Model/MotionCardRelated.cs b/src/Bro.Common.Model/Model/MotionCardRelated.cs index 5b4f5ac..a285cdc 100644 --- a/src/Bro.Common.Model/Model/MotionCardRelated.cs +++ b/src/Bro.Common.Model/Model/MotionCardRelated.cs @@ -35,66 +35,66 @@ [Category("鎹㈢畻閰嶇疆")] [DisplayName("鑴夊啿鏁版崲绠楁瘮渚�")] [Description("鑴夊啿鏁板拰鍏朵粬璁¢噺鍗曚綅鐨勬崲绠楁瘮渚嬶紝渚嬪璁剧疆涓�1000锛岃〃绀�1000涓剦鍐茬瓑浜�1uint")] - public int PulseRatio { get; set; } = 1; + public int AxisRatio { get; set; } = 1; - [Category("閫熷害閰嶇疆")] - [DisplayName("榛樿閫熷害鍙傛暟")] - [Description("VelocityPara锛氶粯璁ら�熷害鍙傛暟")] - [TypeConverter(typeof(ComplexObjectConvert))] - [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))] - public VelocityPara VelocityPara { get; set; } = new VelocityPara(); + //[Category("閫熷害閰嶇疆")] + //[DisplayName("榛樿閫熷害鍙傛暟")] + //[Description("VelocityPara锛氶粯璁ら�熷害鍙傛暟")] + //[TypeConverter(typeof(ComplexObjectConvert))] + //[Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))] + //public VelocityPara VelocityPara { get; set; } = new VelocityPara(); - [Category("鍥炲師鐐硅缃�")] - [DisplayName("鍥炲師鐐规ā寮�")] - [Description("HomeMode锛氬洖鍘熺偣妯″紡銆�0锛氫竴鑸ā寮� 1锛氭瀬闄愰檺浣嶆ā寮� 2锛氬閮ㄨЕ鍙戞ā寮�")] - public int HomeMode { get; set; } = 0; + //[Category("鍥炲師鐐硅缃�")] + //[DisplayName("鍥炲師鐐规ā寮�")] + //[Description("HomeMode锛氬洖鍘熺偣妯″紡銆�0锛氫竴鑸ā寮� 1锛氭瀬闄愰檺浣嶆ā寮� 2锛氬閮ㄨЕ鍙戞ā寮�")] + //public int HomeMode { get; set; } = 0; - [Category("鍥炲師鐐硅缃�")] - [DisplayName("鍥炲師鐐规柟鍚�")] - [Description("IsHomePositive锛氬洖鍘熺偣鏂瑰悜銆� true锛氭鏂瑰悜寮�濮� false锛氳礋鏂瑰悜寮�濮�")] - public bool IsHomePositive { get; set; } = true; + //[Category("鍥炲師鐐硅缃�")] + //[DisplayName("鍥炲師鐐规柟鍚�")] + //[Description("IsHomePositive锛氬洖鍘熺偣鏂瑰悜銆� true锛氭鏂瑰悜寮�濮� false锛氳礋鏂瑰悜寮�濮�")] + //public bool IsHomePositive { get; set; } = true; - [Category("鍥炲師鐐硅缃�")] - [DisplayName("鏄惁鑷姩鍥炲師鐐�")] - [Description("IsAutoGoHome锛氭槸鍚﹁嚜鍔ㄥ洖鍘熺偣銆� true锛氭槸 false锛氬惁")] - public bool IsAutoGoHome { get; set; } = false; + //[Category("鍥炲師鐐硅缃�")] + //[DisplayName("鏄惁鑷姩鍥炲師鐐�")] + //[Description("IsAutoGoHome锛氭槸鍚﹁嚜鍔ㄥ洖鍘熺偣銆� true锛氭槸 false锛氬惁")] + //public bool IsAutoGoHome { get; set; } = false; - [Category("瓒呮椂璁剧疆")] - [DisplayName("鍥炲師鐐硅秴鏃�")] - [Description("TimeOutHome锛氬洖鍘熺偣瓒呮椂锛屽崟浣嶆绉�")] - public int TimeOutHome { get; set; } = 30000; + //[Category("瓒呮椂璁剧疆")] + //[DisplayName("鍥炲師鐐硅秴鏃�")] + //[Description("TimeOutHome锛氬洖鍘熺偣瓒呮椂锛屽崟浣嶆绉�")] + //public int TimeOutHome { get; set; } = 30000; - [Category("瓒呮椂璁剧疆")] - [DisplayName("杩愬姩瓒呮椂")] - [Description("TimeOutMove锛氳繍鍔ㄨ秴鏃讹紝鍗曚綅姣")] - public int TimeOutMove { get; set; } = 10000; + //[Category("瓒呮椂璁剧疆")] + //[DisplayName("杩愬姩瓒呮椂")] + //[Description("TimeOutMove锛氳繍鍔ㄨ秴鏃讹紝鍗曚綅姣")] + //public int TimeOutMove { get; set; } = 10000; - [Category("寮�闂幆璁剧疆")] - [DisplayName("鏄惁浣跨敤Cmmd鍥為")] - [Description("IsUseCmmdPosition锛氭槸鍚︿娇鐢–mmd鍥為")] - public bool IsUseCmmdPosition { get; set; } = false; + //[Category("寮�闂幆璁剧疆")] + //[DisplayName("鏄惁浣跨敤Cmmd鍥為")] + //[Description("IsUseCmmdPosition锛氭槸鍚︿娇鐢–mmd鍥為")] + //public bool IsUseCmmdPosition { get; set; } = false; - [Category("寮�闂幆璁剧疆")] - [DisplayName("鏄惁浣跨敤鏉垮崱鍙嶉鍋滄淇″彿")] - [Description("IsUseMDNStopSignal锛氭槸鍚︿娇鐢ㄦ澘鍗″弽棣堝仠姝俊鍙�")] - public bool IsUseMDNStopSignal { get; set; } = false; + //[Category("寮�闂幆璁剧疆")] + //[DisplayName("鏄惁浣跨敤鏉垮崱鍙嶉鍋滄淇″彿")] + //[Description("IsUseMDNStopSignal锛氭槸鍚︿娇鐢ㄦ澘鍗″弽棣堝仠姝俊鍙�")] + //public bool IsUseMDNStopSignal { get; set; } = false; - [Category("寮�闂幆璁剧疆")] - [DisplayName("鏄惁鍚敤鎶ヨ")] - [Description("IsUseWarning锛氭槸鍚﹀惎鐢ㄦ姤璀�")] - public bool IsUseWarning { get; set; } = false; + //[Category("寮�闂幆璁剧疆")] + //[DisplayName("鏄惁鍚敤鎶ヨ")] + //[Description("IsUseWarning锛氭槸鍚﹀惎鐢ㄦ姤璀�")] + //public bool IsUseWarning { get; set; } = false; - [Category("鏆傚仠閰嶇疆")] - [DisplayName("鏄惁鍚敤绔嬪嵆鏆傚仠")] - [Description("IsImmediatePause锛氭槸鍚﹀惎鐢ㄧ珛鍗虫殏鍋�")] - public bool IsImmediatePause { get; set; } = false; + //[Category("鏆傚仠閰嶇疆")] + //[DisplayName("鏄惁鍚敤绔嬪嵆鏆傚仠")] + //[Description("IsImmediatePause锛氭槸鍚﹀惎鐢ㄧ珛鍗虫殏鍋�")] + //public bool IsImmediatePause { get; set; } = false; - [Category("鏆傚仠閰嶇疆")] - [DisplayName("杞翠綅缃浜庡尯闂村唴鏃堕�傜敤鐨勬殏鍋滄搷浣�")] - [Description("ImmediatePauseSections锛氬綋杞翠綅缃浜庡尯闂村唴鏃堕�傜敤鐨勬殏鍋滄搷浣�")] - [TypeConverter(typeof(CollectionCountConvert))] - [Editor(typeof(ComplexCollectionEditor<Section>), typeof(UITypeEditor))] - public List<Section> ImmediatePauseSections { get; set; } = new List<Section>(); + //[Category("鏆傚仠閰嶇疆")] + //[DisplayName("杞翠綅缃浜庡尯闂村唴鏃堕�傜敤鐨勬殏鍋滄搷浣�")] + //[Description("ImmediatePauseSections锛氬綋杞翠綅缃浜庡尯闂村唴鏃堕�傜敤鐨勬殏鍋滄搷浣�")] + //[TypeConverter(typeof(CollectionCountConvert))] + //[Editor(typeof(ComplexCollectionEditor<Section>), typeof(UITypeEditor))] + //public List<Section> ImmediatePauseSections { get; set; } = new List<Section>(); public string GetDisplayText() { @@ -305,6 +305,11 @@ } } + [Category("鏉垮崱杩愬姩閰嶇疆")] + [Description("瓒呮椂璁剧疆锛屽崟浣嶏細ms")] + [DisplayName("杩愬姩瓒呮椂")] + public int MovingTimeout { get; set; } = 0; + internal List<AxisSetting> _axisSettingList = new List<AxisSetting>(); public void SetAxisSetting(List<AxisSetting> settings) { diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs index 2cb1a6d..b8e668e 100644 --- a/src/Bro.Device.GTSCard/GTSCardDriver.cs +++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs @@ -75,10 +75,95 @@ AllAxisOff(); } + /// <summary> + /// 璁惧 杩愯 + /// </summary> + /// <param name="config"></param> + /// <returns></returns> public override ResponseMessage Run(IOperationConfig config) { ResponseMessage responseMessage = new ResponseMessage(); + var opConfig = config as GTSCardOperationConfig; + // 1.棰勬鏌� + if (CurrentState == DeviceState.DSOpen) + { + foreach (var preCheck in opConfig.PreCheckIOCollection) + { + int timeout = opConfig.PreCheckIOTimeout; + int? 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 || (opConfig.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(opConfig); + + 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 opConfig.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 opConfig.IOConfirmCollection) + { + int timeout = opConfig.IOConfirmTimeout; + int? 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 || (opConfig.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; } @@ -164,7 +249,7 @@ /// <returns>杩愬姩鎺у埗+鍋滄鍒ゆ柇</returns> public override ResponseMessage MoveToPoint(IOperationConfig opConfig) { - bool resultOK = false; + ResponseMessage responseMessage = new ResponseMessage(); var gtsOperationConfig = opConfig as GTSCardOperationConfig; List<Task<bool>> taskList = new List<Task<bool>>(); //TaskFactory factory = new TaskFactory(TaskCreationOptions.LongRunning, TaskContinuationOptions.None); @@ -179,10 +264,12 @@ taskList.Add(task); } Task.WaitAll(taskList.ToArray()); - resultOK = taskList.All(u => u.GetAwaiter().GetResult()); - - //return resultOK; - throw new NotImplementedException(); + 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> @@ -220,48 +307,56 @@ 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; - } + string _position = ""; + string motionType = optionPara.MoveMode == EnumHelper.MotorMoveMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString(); - if (optionPara.IsAbsolute) - { - isSuccessAndStop = P2PMoveAbs(optionPara); - } - else - { - isSuccessAndStop = P2PMoveRel(optionPara); - } + _position = $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff},{optionPara.AxisIndex},{motionType},{GetPosition(optionPara.AxisIndex)},{GetPrfPosition(optionPara.AxisIndex)},{optionPara.Destination},"; - } - break; - case MotorMoveMode.FindOri: - { - isSuccessAndStop = GoHome(optionPara); - } - break; - case MotorMoveMode.Jog: - { - isSuccessAndStop = JogMove(optionPara); - } - break; + switch (optionPara.MoveMode) + { + 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; + } + + if (optionPara.IsAbsolute) + { + isSuccessAndStop = P2PMoveAbs(optionPara); + } + else + { + isSuccessAndStop = P2PMoveRel(optionPara); + } + + } + break; + case MotorMoveMode.FindOri: + { + isSuccessAndStop = GoHome(optionPara); + } + break; + case MotorMoveMode.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; }); @@ -332,7 +427,7 @@ 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); + Thread.Sleep(10); } repeatTime--; } while (ret != (short)GTSRetCode.GRCRunOK && repeatTime > 0); @@ -406,11 +501,11 @@ 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); @@ -422,8 +517,12 @@ 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; @@ -477,9 +576,9 @@ } 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); @@ -491,8 +590,12 @@ 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; @@ -637,14 +740,13 @@ /// <summary> /// 璇诲彇IO杈撳嚭 /// </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) { int outSts; short outNum = (short)(index % 100); - GTSCardAPI.GT_GetDo(cardNum, GTSCardAPI.MC_GPO, out outSts); + GTSCardAPI.GT_GetDo((short)IConfig.CardNum, GTSCardAPI.MC_GPO, out outSts); if ((outSts & (1 << outNum)) == 0) return true; else return false; } @@ -652,19 +754,18 @@ /// <summary> /// 鎸変綅璁剧疆鏁板瓧 IO 杈撳嚭鐘舵�� /// </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) + public void WriteOut(short index, bool value) { short outNum = (short)(index % 100 + 1); if (value) { - GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 0); + GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, 0); } else { - GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 1); + GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, 1); } } -- Gitblit v1.8.0