From 81480d62561dcb75a1fc968814ace1368fe5181b Mon Sep 17 00:00:00 2001
From: wells.liu <wells.liu@broconcentric.com>
Date: 星期四, 16 七月 2020 11:57:08 +0800
Subject: [PATCH] Merge branch 'master' of http://gitblit.broconcentric.com:8088/r/M071
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 245 +++++++++++++++++++++++++++++-------------------
1 files changed, 148 insertions(+), 97 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index a917333..d87e661 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -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>();
@@ -145,16 +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;
+ }
}
}
@@ -170,10 +178,15 @@
// 2.鏉垮崱杩愬姩
if (CurrentState == DeviceState.DSOpen)
{
- responseMessage = MoveToPoint(new MotionOperationCollection() { MovingOps = operationSet.MovingOps });
- if (!responseMessage.Result)
+ _pauseHandle.Wait();
+
+ if (CurrentState == DeviceState.DSOpen)
{
- return responseMessage;
+ responseMessage = MoveToPoint(new MotionOperationCollection() { MovingOps = operationSet.MovingOps });
+ if (!responseMessage.Result)
+ {
+ return responseMessage;
+ }
}
}
@@ -181,18 +194,24 @@
// 3.IO杈撳嚭 涓嶉渶瑕佽秴鏃�
if (CurrentState == DeviceState.DSOpen)
{
+
foreach (var ioOutput in operationSet.IOOutputCollection)
{
- WriteOutput((short)ioOutput.IOItem.IONum, ioOutput.CheckValue);
+ _pauseHandle.Wait();
- //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 (CurrentState == DeviceState.DSOpen)
+ {
+ WriteOutput((short)ioOutput.IOItem.IONum, ioOutput.CheckValue);
- //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;
- //}
+ //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;
+ //}
+ }
}
}
@@ -228,6 +247,8 @@
#endregion
#region ImmediatePause
+ ManualResetEventSlim _pauseHandle = new ManualResetEventSlim(true);
+
/// <summary>
/// 鍚姩绔嬪嵆鏆傚仠
/// </summary>
@@ -236,12 +257,11 @@
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�
});
@@ -251,15 +271,22 @@
/// <summary>
/// 鎭㈠绔嬪嵆鏆傚仠
/// </summary>
- public override 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
@@ -347,19 +374,11 @@
ResponseMessage responseMessage = new ResponseMessage();
if (opConfig is MotionOperationCollection gtsOperationCollection)
{
- //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 =>
{
+ axisImmediatePauseFlag[movingOp.AxisIndex] = false;
+ axisPauseResumeFlag[movingOp.AxisIndex] = true;
resultList.Add(SingleAxisMoving(movingOp).Result);
});
responseMessage.Result = resultList.All(u => u == true);
@@ -418,63 +437,64 @@
public override Task<bool> SingleAxisMoving(MovingOption optionPara)
{
return Task.Run(() =>
- {
- axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
- bool isSuccessAndStop = false;
- try
- {
- if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
- {
- // string _position = "";
- string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();
+ {
+ bool isSuccessAndStop = false;
+ do
+ {
+ axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
- // _position = $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff},{optionPara.AxisIndex},{motionType},{GetPosition(optionPara.AxisIndex)},{GetPrfPosition(optionPara.AxisIndex)},{optionPara.Destination},";
+ if (!axisPauseResumeFlag[optionPara.AxisIndex])
+ return true;
- 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;
- }
+ try
+ {
+ if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
+ {
+ string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();
- if (optionPara.IsAbsolute)
- {
- isSuccessAndStop = P2PMoveAbs(optionPara);
- }
- else
- {
- isSuccessAndStop = P2PMoveRel(optionPara);
- }
+ 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;
+ }
- }
- 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());
- }
- return isSuccessAndStop;
- });
+ 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;
+ }
+ }
+ }
+ 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;
+ });
}
/// <summary>
@@ -868,7 +888,11 @@
{
try
{
- StartCapture:
+ 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);
@@ -887,24 +911,24 @@
// 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, movingOption.GoHomePara.HighVelocity);
+ 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, movingOption.GoHomePara.HomeDir == 1 ? 99999999 : -99999999);
+ 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 = 1000;
+ int repeatTime = goHomePara.GoHomeTimeOut * 1000;
short capture;
int pos;
uint clk;//鏃堕挓鍙傛暟
do
{
- Thread.Sleep(20);
+ 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--;
+ repeatTime -= IConfig.MonitorInterval;
} while (!(isStop || capture == 1 || repeatTime <= 0));
if (repeatTime <= 0)
@@ -921,7 +945,22 @@
if (((axisStatus.AxisStatus & 0x20) != 0) || ((axisStatus.AxisStatus & 0x40) != 0))
{
- movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);
+ //movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);
+
+ //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;
}
@@ -930,12 +969,18 @@
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 + movingOption.GoHomePara.HomeOffset);
+ 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;
@@ -1282,10 +1327,16 @@
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 = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex).AxisStatus;
+ 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);
--
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