From 773369500892dcb5347e4a0059f8089960073030 Mon Sep 17 00:00:00 2001
From: xcd <834800634@qq.com>
Date: 星期三, 15 七月 2020 22:08:34 +0800
Subject: [PATCH] 板卡回原点配置迁移到初始配置轴配置中 板卡回原点配置区分运动方向和捕捉方向，限制捕捉原点方向
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 594 +++++++++++++++++++++++++++++++++++++++++------------------
1 files changed, 410 insertions(+), 184 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index 2d3d26e..d87e661 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -21,7 +21,7 @@
public class GTSCardDriver : MotionCardBase
{
// 寮傚父浜嬩欢
- public Action<Exception> OnExceptionRaised;
+ //public Action<Exception> OnExceptionRaised;
public GTSCardInitialConfig IIConfig
{
@@ -46,6 +46,8 @@
/// 杩愬姩杞寸珛鍗虫殏鍋�
/// </summary>
Dictionary<int, ManualResetEvent> axisImmediatePauseHandleDict = new Dictionary<int, ManualResetEvent>();
+ Dictionary<int, bool> axisImmediatePauseFlag = new Dictionary<int, bool>();
+ Dictionary<int, bool> axisPauseResumeFlag = new Dictionary<int, bool>();
//Dictionary<int, CancellationTokenSource> axisMoveCancelDict = new Dictionary<int, CancellationTokenSource>();
@@ -61,7 +63,7 @@
{
AxisInfo axisInfo = new AxisInfo();
axisInfo.AxisName = axisSetting.AxisName;
- var axisMovingStatus = AxisMovingOptionValues.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex);
+ var axisMovingStatus = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex);
axisInfo.AxisLocation = axisMovingStatus == null ? 0 : Convert.ToDouble(axisMovingStatus.CurPosition);
axisInfos.Add(axisInfo);
@@ -96,6 +98,8 @@
protected override void Start()
{
AllAxisOn();
+
+ base.Start();
}
protected override void Stop()
@@ -116,11 +120,17 @@
{
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;
@@ -137,16 +147,22 @@
{
foreach (var preCheck in operationSet.PreCheckIOCollection)
{
- int timeout = operationSet.PreCheckIOTimeout;
+ _pauseHandle.Wait();
+
IOValue? ioData = null;
- while (CurrentState == DeviceState.DSOpen)
+ if (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))
+ int timeout = operationSet.PreCheckIOTimeout;
+
+ while (CurrentState == DeviceState.DSOpen)
{
- break;
+ 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;
+ }
}
}
@@ -162,10 +178,15 @@
// 2.鏉垮崱杩愬姩
if (CurrentState == DeviceState.DSOpen)
{
- responseMessage = MoveToPoint(operationSet.MotionOperationCollection);
- if (!responseMessage.Result)
+ _pauseHandle.Wait();
+
+ if (CurrentState == DeviceState.DSOpen)
{
- return responseMessage;
+ responseMessage = MoveToPoint(new MotionOperationCollection() { MovingOps = operationSet.MovingOps });
+ if (!responseMessage.Result)
+ {
+ return responseMessage;
+ }
}
}
@@ -173,14 +194,23 @@
// 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)
+ _pauseHandle.Wait();
+
+ if (CurrentState == DeviceState.DSOpen)
{
- 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;
+ //}
}
}
}
@@ -217,20 +247,21 @@
#endregion
#region ImmediatePause
+ ManualResetEventSlim _pauseHandle = new ManualResetEventSlim(true);
+
/// <summary>
/// 鍚姩绔嬪嵆鏆傚仠
/// </summary>
- public void SetImmediatePause()
+ public override void SetImmediatePause()
{
if (!_isResetting)
{
var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();
-
+ _pauseHandle.Reset();
immediatePauseAxis.ForEach(async axisIndex =>
{
axisImmediatePauseHandleDict[axisIndex].Reset();
-
- //axisMoveCancelDict[axisIndex].Cancel();
+ axisImmediatePauseFlag[axisIndex] = true;
await MoveStop(axisIndex, 0);//鎵�鏈夎酱閮芥殏鍋�
});
@@ -240,15 +271,22 @@
/// <summary>
/// 鎭㈠绔嬪嵆鏆傚仠
/// </summary>
- public void ResetImmediatePause()
+ public override void ResetImmediatePause(bool isResumeMoving)
{
var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();
-
+ _pauseHandle.Set();
immediatePauseAxis.ForEach(axisIndex =>
{
- //axisMoveCancelDict[axisIndex] = new CancellationTokenSource();
-
+ axisImmediatePauseFlag[axisIndex] = false;
axisImmediatePauseHandleDict[axisIndex].Set();
+ if (isResumeMoving)
+ {
+ axisPauseResumeFlag[axisIndex] = true;
+ }
+ else
+ {
+ axisPauseResumeFlag[axisIndex] = false;
+ }
});
}
#endregion
@@ -267,7 +305,7 @@
ClearStatus(1, IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled).Count);
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);
+ throw new ProcessException("鏉垮崱杞藉叆閰嶇疆鏂囦欢寮傚父锛岄敊璇爜锛�" + res);
}
}
@@ -336,15 +374,14 @@
ResponseMessage responseMessage = new ResponseMessage();
if (opConfig is MotionOperationCollection gtsOperationCollection)
{
- List<Task<bool>> taskList = new List<Task<bool>>();
- foreach (var movingOp in gtsOperationCollection.MovingOps)
+ List<bool> resultList = new List<bool>();
+ Parallel.ForEach(gtsOperationCollection.MovingOps, movingOp =>
{
- var task = SingleAxisMoving(movingOp);
- taskList.Add(task);
- }
-
- Task.WaitAll(taskList.ToArray());
- responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
+ axisImmediatePauseFlag[movingOp.AxisIndex] = false;
+ axisPauseResumeFlag[movingOp.AxisIndex] = true;
+ 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";
@@ -362,84 +399,100 @@
{
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));
+ short axisIndex = short.Parse(optionPara.AxisIndexStr);
+ 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;
- 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));
+ 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));
+
+ 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)
{
- throw new Exception("杞�" + optionPara.AxisIndex + "璁剧疆鍙傛暟寮傚父锛岄敊璇爜锛�" + string.Join(",", resultCode));
+ throw new ProcessException("杞�" + optionPara.AxisIndex + "璁剧疆鍙傛暟寮傚父锛岄敊璇爜锛�" + string.Join(",", resultCode));
}
return resultOK;
}
+ TaskFactory taskFactory = new TaskFactory(TaskCreationOptions.LongRunning, TaskContinuationOptions.LongRunning);
/// <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 override async Task<bool> SingleAxisMoving(MovingOption optionPara)
+ public override Task<bool> SingleAxisMoving(MovingOption optionPara)
{
- return await Task.Run(() =>
+ return Task.Run(() =>
{
- axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
bool isSuccessAndStop = false;
- try
+ do
{
- if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
+ axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
+
+ if (!axisPauseResumeFlag[optionPara.AxisIndex])
+ return true;
+
+ try
{
- 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)
+ if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
{
- 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;
- }
+ string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();
- if (optionPara.IsAbsolute)
+ switch (optionPara.MoveMode)
+ {
+ case MotionMode.Normal:
{
- isSuccessAndStop = P2PMoveAbs(optionPara);
- }
- else
- {
- isSuccessAndStop = P2PMoveRel(optionPara);
- }
+ 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;
+ }
- }
- break;
- case MotionMode.FindOri:
- {
- isSuccessAndStop = GoHome(optionPara);
- }
- break;
- case MotionMode.Jog:
- {
- isSuccessAndStop = JogMove(optionPara);
- }
- break;
+ if (optionPara.IsAbsolute)
+ {
+ isSuccessAndStop = P2PMoveAbs(optionPara);
+ }
+ //else
+ //{
+ // isSuccessAndStop = P2PMoveRel(optionPara);
+ //}
+
+ }
+ break;
+ case MotionMode.FindOri:
+ {
+ //isSuccessAndStop = GoHome(optionPara);
+ isSuccessAndStop = P2PGoHome(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());
- }
+ catch (Exception ex)
+ {
+ isSuccessAndStop = false;
+ LogAsync(DateTime.Now, $"杞磠optionPara.AxisIndex}杩愬姩寮傚父", ex.GetExceptionMessage());
+ }
+ } while (axisImmediatePauseFlag[optionPara.AxisIndex]);
return isSuccessAndStop;
});
}
@@ -456,10 +509,10 @@
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);
+ throw new ProcessException("杞�" + axisNum + "鑾峰彇瑙勫垝浣嶇疆寮傚父锛岄敊璇爜锛�" + ret);
}
- var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum).AxisRatio;
- position = prfpos / AxisRatio;
+ //var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum).AxisRatio;
+ position = prfpos;
return position;
}
@@ -473,14 +526,14 @@
lock (moveLock)
{
double position = 0;
- int pPos = 0;
- var ret = GTSCardAPI.GT_GetPos((short)IConfig.CardNum, (short)axisNum, out pPos);
+ double pPos = 0;
+ var ret = GTSCardAPI.GT_GetPrfPos((short)IConfig.CardNum, (short)axisNum, out pPos, 1, out uint pclock);
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);
+ throw new ProcessException("杞�" + axisNum + "鑾峰彇鐩爣浣嶇疆寮傚父锛岄敊璇爜锛�" + ret);
}
- var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum).AxisRatio;
- position = pPos / AxisRatio;
+ //var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum).AxisRatio;
+ position = pPos;
return position;
}
}
@@ -497,7 +550,7 @@
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);
+ throw new ProcessException("杞�" + axisNum + "鑾峰彇瑙勫垝閫熷害寮傚父锛岄敊璇爜锛�" + ret);
}
return prfVel;
}
@@ -513,7 +566,7 @@
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);
+ throw new ProcessException("杞�" + axisNum + "鑾峰彇褰撳墠閫熷害寮傚父锛岄敊璇爜锛�" + ret);
}
return vel;
}
@@ -553,7 +606,7 @@
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -571,7 +624,7 @@
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");
+ throw new ProcessException("杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄥ浣嶈繃绋嬩腑杩愬姩");
}
int repeatTime = 30;
@@ -590,7 +643,7 @@
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);
+ throw new ProcessException("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);
@@ -604,7 +657,7 @@
{
//璁剧疆 杩愬姩鍙傛暟
isSuccessSetAxisParam = SetAxisParam(optionPara);
- ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition * AxisRatio));// 璁剧疆瑙勫垝浣嶇疆
+ ret = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition));// 璁剧疆鐩殑浣嶇疆
ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//鏇存柊杩愬姩
if (ret != (short)GTSRetCode.GRCRunOK)
@@ -624,8 +677,8 @@
repeatTime = 1000;
do
{
- isStop = IsStop((short)optionPara.AxisIndex);
Thread.Sleep(50);
+ isStop = IsStop((short)optionPara.AxisIndex);
repeatTime--;
} while (!isStop && repeatTime > 0);
@@ -634,7 +687,7 @@
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -652,7 +705,7 @@
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");
+ throw new ProcessException("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)
@@ -669,18 +722,18 @@
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);
+ throw new ProcessException("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;
- 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
isSuccessSetAxisParam = SetAxisParam(optionPara);
- ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(optionPara.Destination * AxisRatio));// 璁剧疆瑙勫垝浣嶇疆
+ ret = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(optionPara.Destination));// 璁剧疆鐩爣浣嶇疆
ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//鏇存柊杩愬姩
if (ret != (short)GTSRetCode.GRCRunOK)
@@ -699,8 +752,8 @@
repeatTime = 1000;
while (!isStop && repeatTime > 0)
{
- isStop = IsStop((short)optionPara.AxisIndex);
Thread.Sleep(50);
+ isStop = IsStop((short)optionPara.AxisIndex);
repeatTime--;
}
@@ -709,7 +762,7 @@
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -733,7 +786,7 @@
if (ret != (short)GTSRetCode.GRCRunOK)
{
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);
+ throw new ProcessException("杞�" + axisNum + "杩愬姩鍋滄寮傚父锛岄敊璇爜锛�" + ret);
}
else
{
@@ -742,8 +795,8 @@
int repeatTime = 100;
do
{
- isStop = IsStop((short)axisNum);
Thread.Sleep(10);
+ isStop = IsStop((short)axisNum);
repeatTime--;
} while (!isStop && repeatTime > 0);
@@ -769,54 +822,185 @@
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);
+
+ // 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);
+
+ // 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;
+ // }
+ //}
+
/// <summary>
- /// 鍥炲師鐐�
+ /// P2P鏂瑰紡鍥炲師鐐�
/// </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)
+ /// <param name="movingOption">杩愬姩鍙傛暟</param>
+ public bool P2PGoHome(MovingOption movingOption)
{
try
{
- PositionReset(movingOption.AxisIndex, 1);
- GTSCardAPI.THomePrm thomeprm;
- GTSCardAPI.THomeStatus homests;
- 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
+ var goHomePara = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == movingOption.AxisIndex).GoHomePara;
+ bool homeDirection = goHomePara.IsHomeDirPositive;
+ bool isRightLimitReached = false;
+ StartCapture:
+
+ PositionReset(movingOption.AxisIndex, 1);
+ ClearStatus(movingOption.AxisIndex, 1);
+
+ GTSCardAPI.TTrapPrm trapPrm;
bool isStop = false;
- int repeatTime = 1000;
+ //鎼滅储璺濈 闃舵1
+ // 鍚姩Home鎹曡幏
+ short sRtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
+ // 鍒囨崲鍒扮偣浣嶈繍鍔ㄦā寮�
+ sRtn = GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)movingOption.AxisIndex);
+ // 璇诲彇鐐逛綅妯″紡杩愬姩鍙傛暟
+ sRtn = GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out trapPrm);
+ trapPrm.acc = movingOption.VelocityPara.Acc;
+ trapPrm.dec = movingOption.VelocityPara.Dec;
+ // 璁剧疆鐐逛綅妯″紡杩愬姩鍙傛暟
+ 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, 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, homeDirection ? 99999999 : -99999999);
+ // 鍚姩杩愬姩
+ sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
+
+ int repeatTime = goHomePara.GoHomeTimeOut * 1000;
+ short capture;
+ int pos;
+ uint clk;//鏃堕挓鍙傛暟
do
{
- Thread.Sleep(10);
- GTSCardAPI.GT_GetHomeStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out homests);
+ Thread.Sleep(IConfig.MonitorInterval);
+ // 璇诲彇鎹曡幏鐘舵��
+ GTSCardAPI.GT_GetCaptureStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out capture, out pos, 1, out clk);
+ isStop = IsStop((short)movingOption.AxisIndex);
+ repeatTime -= IConfig.MonitorInterval;
+ } while (!(isStop || capture == 1 || repeatTime <= 0));
- isStop = homests.run == 0;
- if (isStop && homests.error == 0)
+ if (repeatTime <= 0)
+ {
+ 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))
{
- Thread.Sleep(200);
- PositionReset(movingOption.AxisIndex, 1);
- }
- repeatTime--;
- } while (!isStop && repeatTime > 0);
+ //movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);
- return isStop;
+ //姝ｉ檺浣�
+ if ((axisStatus.AxisStatus & 0x20) != 0 && !goHomePara.IsCaptureDirPositive)
+ {
+ isRightLimitReached = true;
+ }
+
+
+ //璐熼檺浣�
+ if ((axisStatus.AxisStatus & 0x40) != 0 && goHomePara.IsCaptureDirPositive)
+ {
+ isRightLimitReached = true;
+ }
+
+ homeDirection = !homeDirection;
+ goto StartCapture;
+ }
+
+ throw new ProcessException($"杩愬姩杞磠movingOption.AxisIndex} 锛屽洖鍘熺偣瓒呮椂寮傚父");
+ }
+
+ if (capture == 1)
+ {
+ if (!isRightLimitReached)
+ {
+ capture = 0;
+ goto StartCapture;
+ }
+
+ //鍏坰top
+ MoveStop((short)movingOption.AxisIndex, 0);
+ ClearStatus((short)movingOption.AxisIndex, 1);
+ //宸茬粡鎹曡幏鍒癏ome鎵嶅彲浠ュ洖闆� 闃舵2
+ // 杩愬姩鍒�"鎹曡幏浣嶇疆+鍋忕Щ閲�"
+ sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, pos + goHomePara.HomeOffset);
+ // 鍦ㄨ繍鍔ㄧ姸鎬佷笅鏇存柊鐩爣浣嶇疆
+ sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
+ isStop = false;
+
+ repeatTime = 1000;
+ do
+ {
+ Thread.Sleep(20);
+ isStop = IsStop((short)movingOption.AxisIndex);
+ repeatTime--;
+ } while (!isStop && repeatTime > 0);
+ PositionReset(movingOption.AxisIndex, 1);
+ return (sRtn == (short)GTSRetCode.GRCRunOK) && isStop;
+ }
+ return false;
}
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -853,13 +1037,13 @@
/// 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>
+ /// <param name="value">false琛ㄧず鍏筹紝true琛ㄧず寮�锛屾澘鍗¤璁剧疆鍙栧弽</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);
+ GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, IConfig.IsOutputReversed ? (short)(value == IOValue.TRUE ? 0 : 1) : (short)value);
}
else
{
@@ -876,7 +1060,7 @@
/// <returns></returns>
public bool IsStop(short axisNum)
{
- int sts = GetAxisStatus(axisNum);
+ int sts = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisNum).AxisStatus;
if ((sts & 0x400) == 0) return true;//鍋滄杩斿洖true
else return false; //杩愯涓繑鍥瀎alse
}
@@ -930,10 +1114,10 @@
AxisMovingStatus axisMovingStatus = new AxisMovingStatus();
axisMovingStatus.AxisIndex = axisConfig.AxisIndex;
axisMovingStatus.AxisName = axisConfig.AxisName;
- axisMovingStatus.CurPosition = Convert.ToInt32(GetPosition(axisMovingStatus.AxisIndex));
+ //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.CurVelocity = GetVelocity(axisMovingStatus.AxisIndex);
+ //axisMovingStatus.PrfVelocity = GetPrfVelocity(axisMovingStatus.AxisIndex);
axisMovingStatus.AxisStatus = GetAxisStatus(axisMovingStatus.AxisIndex);
axisMovingStatusesList.Add(axisMovingStatus);
@@ -955,7 +1139,7 @@
GTSCardAPI.GT_GetDo((short)IConfig.CardNum, GTSCardAPI.MC_GPO, out outValue);
//瑙ｆ瀽缁撴灉
- for (var index = 1; index <= 16; index++)
+ for (var index = 0; index < 16; index++)
{
IOItem inItem = new IOItem()
{
@@ -986,28 +1170,39 @@
{
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();
+ //Stopwatch sw = new Stopwatch();
+ //sw.Start();
if (MonitorValues.Count == newValues.Count)
{
- var tempNew = newValues.DeepSerializeClone();//clone
- var tempOld = MonitorValues.DeepSerializeClone();
+ //var tempNew = newValues.DeepSerializeClone();//clone
+ //var tempOld = MonitorValues.DeepSerializeClone();
+ var tempNew = new List<IOItem>(newValues);//clone
+ var tempOld = new List<IOItem>(MonitorValues);
MonitorCheckAndInvoke(tempNew, tempOld);
}
- AxisMovingOptionValues = new List<AxisMovingStatus>(newAxisMovingStatus);
- MonitorValues = new List<IOItem>(newValues);
- sw.Stop();
-
- if (sw.ElapsedMilliseconds > 20)
+ if (AxisStatusList.Count == newAxisMovingStatus.Count)
{
- LogAsync(DateTime.Now, $"{this.Name}杞鏃堕棿锛歿sw.ElapsedMilliseconds}", "");
+ var tempNew = new List<AxisMovingStatus>(newAxisMovingStatus);//clone
+ var tempOld = new List<AxisMovingStatus>(AxisStatusList);
+ AxisStatusCheck(tempNew, tempOld);
}
+
+ AxisStatusList = 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)
{
@@ -1026,29 +1221,52 @@
});
}
+ private async void AxisStatusCheck(List<AxisMovingStatus> tempNew, List<AxisMovingStatus> tempOld)
+ {
+ await Task.Run(() =>
+ {
+ foreach (var newSts in tempNew)
+ {
+ var oldSts = tempOld.FirstOrDefault(u => u.AxisIndex == newSts.AxisIndex);
+ if (oldSts != null)
+ {
+ if (oldSts.AxisStatus != newSts.AxisStatus)
+ {
+ AxisStatusChanged(newSts.AxisIndex, oldSts.AxisStatus, newSts.AxisStatus);
+ }
+
+ if (((newSts.AxisStatus >> 1 & 1) == 1) && ((oldSts.AxisStatus >> 1 & 1) == 0)) //鍒濇鎶ヨ
+ {
+ AxisAlarmRaised(newSts.AxisStatus, $"杞磠newSts.AxisIndex}:{newSts.AxisName}杞翠己鏈嶆姤璀�");
+ }
+ }
+ }
+ });
+ }
+
public override void OnMethodInvoked(IAsyncResult ar)
{
- MotionCardMonitorSet monitorSet = ar.AsyncState as MotionCardMonitorSet;
- ProcessResponse resValues = monitorSet.Response;
- if (resValues.ResultValue == (int)ReplyValue.IGNORE)
- {
- return;
- }
+ //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()}");
+ //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)
@@ -1093,8 +1311,9 @@
//monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
//{
- // return tempNew[index].Value;
+ // 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);
}
@@ -1108,15 +1327,22 @@
int axis_sts;
var axisSettings = IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled);
ClearStatus(1, axisSettings.Count);
+
+ if (AxisStatusList.Count == 0)
+ {
+ Thread.Sleep(10);
+ }
+
foreach (var axisSetting in axisSettings)
{
- axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
+ //axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
+ axis_sts = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex)?.AxisStatus ?? 0;
if ((axis_sts & 0x200) == 0)
{
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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