From 8dd7b24e5649edf6f73e1146c4db576f7eb3dcdb Mon Sep 17 00:00:00 2001
From: wells <123>
Date: 星期六, 11 七月 2020 14:16:54 +0800
Subject: [PATCH] 7.11
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 204 ++++++++++++++++++++++++++++++--------------------
1 files changed, 121 insertions(+), 83 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index 0f06173..cd6746f 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
{
@@ -61,7 +61,7 @@
{
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 +96,8 @@
protected override void Start()
{
AllAxisOn();
+
+ base.Start();
}
protected override void Stop()
@@ -341,8 +343,8 @@
{
var task = SingleAxisMoving(movingOp);
taskList.Add(task);
+ task.Start();
}
-
Task.WaitAll(taskList.ToArray());
responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
if (!responseMessage.Result)
@@ -380,69 +382,70 @@
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(() =>
- {
- 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();
+ return new Task<bool>(() =>
+ {
+ 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();
- _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)
- {
- 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;
- }
+ 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);
- }
+ 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);
- }
- }
- catch (Exception ex)
- {
- isSuccessAndStop = false;
- LogAsync(DateTime.Now, $"杞磠optionPara.AxisIndex}杩愬姩寮傚父", ex.GetExceptionMessage());
- }
- return isSuccessAndStop;
- });
+ }
+ 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);
+ }
+ }
+ catch (Exception ex)
+ {
+ isSuccessAndStop = false;
+ LogAsync(DateTime.Now, $"杞磠optionPara.AxisIndex}杩愬姩寮傚父", ex.GetExceptionMessage());
+ }
+ return isSuccessAndStop;
+ });
}
/// <summary>
@@ -459,8 +462,8 @@
{
throw new Exception("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;
}
@@ -474,14 +477,14 @@
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);
}
- 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;
}
}
@@ -554,7 +557,7 @@
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -605,7 +608,7 @@
{
//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 * AxisRatio));// 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)
@@ -635,7 +638,7 @@
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -681,7 +684,7 @@
{
//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 * AxisRatio));// 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)
@@ -710,7 +713,7 @@
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -817,7 +820,7 @@
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -854,7 +857,7 @@
/// 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);
@@ -877,7 +880,7 @@
/// <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
}
@@ -931,10 +934,10 @@
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);
@@ -956,7 +959,7 @@
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()
{
@@ -987,8 +990,10 @@
{
if (!IConfig.IsEnableMonitor)
return;
+
var newValues = GetMonitorValues();
var newAxisMovingStatus = GetAxisMovingStatus();
+
if (newValues == null || newValues.Count == 0 || newAxisMovingStatus == null || newAxisMovingStatus.Count == 0)
continue;
@@ -996,12 +1001,21 @@
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);
+ if (AxisStatusList.Count == newAxisMovingStatus.Count)
+ {
+ 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();
@@ -1021,6 +1035,29 @@
if (CurrentState == DeviceState.DSOpen)
{
LogAsync(DateTime.Now, $"{this.Name}鐩戝惉寮傚父", ex.GetExceptionMessage());
+ }
+ }
+ }
+ });
+ }
+
+ 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�");
}
}
}
@@ -1092,10 +1129,10 @@
monitorSet.OpConfig = new OperationConfigBase();
}
- //monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
- //{
- // return tempNew[index].Value;
- //}).ToList();
+ monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
+ {
+ return tempNew[index].Value == IOValue.TRUE ? 1 : 0;
+ }).ToList();
ExcuteMonitorInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet);
}
@@ -1111,7 +1148,8 @@
ClearStatus(1, axisSettings.Count);
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;
if ((axis_sts & 0x200) == 0)
{
var rst = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisSetting.AxisIndex);
--
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