From 9a9fb7a9e71b45bc3b91a0c48373e12d385680b8 Mon Sep 17 00:00:00 2001
From: xcd <834800634@qq.com>
Date: 星期三, 01 七月 2020 19:44:31 +0800
Subject: [PATCH] Merge branch 'master' of http://gitblit.broconcentric.com:8088/r/M071
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 590 ++++++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 442 insertions(+), 148 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index c055b66..58e27c7 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -6,7 +6,9 @@
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Collections.ObjectModel;
+using System.Diagnostics;
using System.Drawing;
+using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
@@ -18,10 +20,6 @@
[Device("GTSCard", "鍥洪珮鏉垮崱", EnumHelper.DeviceAttributeType.Device)]
public class GTSCardDriver : DeviceBase, IMonitor, IMotion
{
- public event Action<DateTime, string, IDevice, MonitorSet> OnMonitorInvoke;
- public event Action<DateTime, IDevice, WarningSet> OnMonitorAlarm;
-
- public delegate bool OnAxisStartToCheckDelegate(int axisIndex, int startPosition, int endPosition);
// 寮傚父浜嬩欢
public Action<Exception> OnExceptionRaised;
@@ -68,12 +66,13 @@
protected override void Start()
{
- throw new NotImplementedException();
+ AllAxisOn();
}
protected override void Stop()
{
- throw new NotImplementedException();
+ AllMoveStop();
+ AllAxisOff();
}
#endregion
@@ -95,6 +94,60 @@
}
}
+ public bool AllAxisOn()
+ {
+ List<Task<bool>> taskList = new List<Task<bool>>(); ;
+ // 濡傛灉鏄涓酱鐨勮繍鍔� 绛夋瘡涓酱寮�鍚�
+ IConfig.AxisSettings.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>
+ {
+ var task = AxisOnAsync((short)IConfig.CardNum, (short)axisNum.AxisIndex);
+ taskList.Add(task);
+ });
+ Task.WaitAll(taskList.ToArray());
+ var resultOK = taskList.All(u => u.GetAwaiter().GetResult());
+ return resultOK;
+ }
+
+ public bool AllAxisOff()
+ {
+ List<Task<bool>> taskList = new List<Task<bool>>(); ;
+ // 濡傛灉鏄涓酱鐨勮繍鍔� 绛夋瘡涓酱鍏抽棴
+ IConfig.AxisSettings.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>
+ {
+ var task = AxisOffAsync((short)IConfig.CardNum, (short)axisNum.AxisIndex);
+ taskList.Add(task);
+ });
+ Task.WaitAll(taskList.ToArray());
+ var resultOK = taskList.All(u => u.GetAwaiter().GetResult());
+ return resultOK;
+ }
+
+ /// <summary>
+ /// 鍗曚釜杞村紑鍚�
+ /// </summary>
+ /// <returns></returns>
+ public async Task<bool> AxisOnAsync(short cardNum, short axisNum)
+ {
+ return await Task.Run(() =>
+ {
+ var ret = GTSCardAPI.GT_AxisOn(cardNum, axisNum);
+ return ret == (short)GTSRetCode.GRCRunOK;
+ });
+ }
+
+ /// <summary>
+ /// 鍗曚釜杞村叧闂�
+ /// </summary>
+ /// <returns></returns>
+ public async Task<bool> AxisOffAsync(short cardNum, short axisNum)
+ {
+ return await Task.Run(() =>
+ {
+ var ret = GTSCardAPI.GT_AxisOff(cardNum, axisNum);
+ return ret == (short)GTSRetCode.GRCRunOK;
+ });
+ }
+
/// <summary>
/// 鐐逛綅鍒扮偣浣嶈繍鍔�
/// </summary>
@@ -104,22 +157,33 @@
{
bool resultOK = false;
var gtsOperationConfig = opConfig as GTSCardOperationConfig;
+ List<Task<bool>> taskList = new List<Task<bool>>();
+ //TaskFactory factory = new TaskFactory(TaskCreationOptions.LongRunning, TaskContinuationOptions.None);
+ // 濡傛灉鏄涓酱鐨勮繍鍔� 绛夋瘡涓酱杩愬姩缁撴潫
foreach (var movingOp in gtsOperationConfig.MovingOps)
{
- resultOK = SingleAxisMoving(movingOp);
+ //var task = factory.StartNew<bool>((op) =>
+ //{
+ // return SingleAxisMoving(op as MovingOption);
+ //}, movingOp);
+ var task = SingleAxisMoving(movingOp);
+ taskList.Add(task);
}
+ Task.WaitAll(taskList.ToArray());
+ resultOK = taskList.All(u => u.GetAwaiter().GetResult());
+
return resultOK;
}
/// <summary>
- /// Set AxisParam
+ /// 鐐瑰埌鐐硅繍鍔ㄨ缃弬鏁�
/// </summary>
/// <param name="optionPara">杩愬姩鍙傛暟瀵硅薄</param>
/// <returns></returns>
private bool SetAxisParam(MovingOption optionPara)
{
List<short> resultCode = new List<short>() { 0 };
- GTSCardAPI.TTrapPrm trapprm;
+ 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));
trapprm.smoothTime = 1;
@@ -138,54 +202,59 @@
}
/// <summary>
- /// 鍗曚釜杞� 鐐逛綅鍒扮偣浣嶈繍鍔�
+ /// 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 bool SingleAxisMoving(MovingOption optionPara)
+ public async Task<bool> SingleAxisMoving(MovingOption optionPara)
{
- bool isSuccessAndStop = false;
- if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
+ return await Task.Run(() =>
{
- 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)
+ bool isSuccessAndStop = false;
+ if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
{
- case MotorMoveMode.Normal:
- {
- if (_isResetting)
+ 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)
+ {
+ case MotorMoveMode.Normal:
{
- 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;
- }
- //璁剧疆 杩愬姩鍙傛暟
- var isSuccess = SetAxisParam(optionPara);
- if (isSuccess)
- {
+ 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 = MoveAbs(optionPara);
+ isSuccessAndStop = P2PMoveAbs(optionPara);
}
else
{
- isSuccessAndStop = MoveRel(optionPara);
+ isSuccessAndStop = P2PMoveRel(optionPara);
}
+
}
- }
- break;
- case MotorMoveMode.FindOri:
- {
- isSuccessAndStop = GoHome(optionPara);
- }
- break;
+ 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);
- }
- return isSuccessAndStop;
+ return isSuccessAndStop;
+ });
}
/// <summary>
@@ -195,18 +264,15 @@
/// <returns></returns>
public double GetPrfPosition(int axisNum)
{
- lock (moveLock)
+ double position = 0;
+ double prfpos = 0; uint pclock = 0;
+ var ret = GTSCardAPI.GT_GetPrfPos((short)IConfig.CardNum, (short)axisNum, out prfpos, 1, out pclock);
+ if (ret != (short)GTSRetCode.GRCRunOK)
{
- double position = 0;
- double prfpos = 0; uint pclock = 0;
- 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);
- }
- position = prfpos / IConfig.AxisVelocityRatio;
- return position;
+ throw new Exception("杞�" + axisNum + "鑾峰彇瑙勫垝浣嶇疆寮傚父锛岄敊璇爜锛�" + ret);
}
+ position = prfpos / IConfig.AxisVelocityRatio;
+ return position;
}
/// <summary>
@@ -230,7 +296,6 @@
}
}
-
/// <summary>
/// Set Single Axis Do Jog Move
/// </summary>
@@ -238,21 +303,38 @@
/// <param name="nDirection">Motion Direction 0: Negative, 1: Positive</param>
/// <param name="nMaxVel">max velocity</param>
/// <returns></returns>
- public bool StartJog(int axisNum, int nDirection, int velocity)
+ public bool JogMove(MovingOption optionPara)
{
- GTSCardAPI.TJogPrm jogprm = new GTSCardAPI.TJogPrm();
- short rtn = GTSCardAPI.GT_PrfJog((short)IConfig.CardNum, (short)axisNum);
- jogprm.acc = 1;
- jogprm.dec = 1;
- GTSCardAPI.GT_SetJogPrm((short)IConfig.CardNum, (short)axisNum, ref jogprm);//璁剧疆jog杩愬姩鍙傛暟
- GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)axisNum, velocity);//璁剧疆鐩爣閫熷害
- int ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (axisNum - 1));//鏇存柊杞磋繍鍔�
-
- if (ret != (int)GTSRetCode.GRCRunOK)
+ try
{
+ GTSCardAPI.TJogPrm jogprm = new GTSCardAPI.TJogPrm();
+ short ret = 0;
+ int repeatTime = 100;
+ do
+ {
+ ret = GTSCardAPI.GT_PrfJog((short)IConfig.CardNum, (short)optionPara.AxisIndex);
+ jogprm.acc = optionPara.VelocityPara.Acc;
+ jogprm.dec = optionPara.VelocityPara.Dec;
+ ret = GTSCardAPI.GT_SetJogPrm((short)IConfig.CardNum, (short)optionPara.AxisIndex, ref jogprm);//璁剧疆jog杩愬姩鍙傛暟
+ ret = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)optionPara.AxisIndex, optionPara.VelocityPara.Velocity);//璁剧疆鐩爣閫熷害
+ ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//鏇存柊杞磋繍鍔�
+
+ 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);
+ }
+ repeatTime--;
+ } while (ret != (short)GTSRetCode.GRCRunOK && repeatTime > 0);
+ return (ret == (short)GTSRetCode.GRCRunOK);
+ }
+ catch (Exception ex)
+ {
+ AllMoveStop(true);
+ OnExceptionRaised?.Invoke(ex);
return false;
}
- return true;
+
}
/// <summary>
@@ -283,7 +365,7 @@
/// <param name="axisNum">AxisNo</param>
/// <param name="nDistance">run distance</param>
/// <returns></returns>
- public bool MoveRel(MovingOption optionPara)
+ public bool P2PMoveRel(MovingOption optionPara)
{
try
{
@@ -314,11 +396,14 @@
LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "寮�濮嬭繍鍔�", "鐩爣鍧愭爣锛�" + optionPara.Destination);
short ret = 0;
- repeatTime = 1000;
+ repeatTime = 100;
+ bool isSuccessSetAxisParam = false;
int currentPosition = (int)GetPosition(optionPara.AxisIndex);
int dPosition = optionPara.Destination + currentPosition;
do
{
+ //璁剧疆 杩愬姩鍙傛暟
+ isSuccessSetAxisParam = SetAxisParam(optionPara);
ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition * IConfig.AxisVelocityRatio));// 璁剧疆瑙勫垝浣嶇疆
ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//鏇存柊杩愬姩
@@ -328,7 +413,7 @@
Thread.Sleep(50);
}
repeatTime--;
- } while (ret != (short)GTSRetCode.GRCRunOK && repeatTime > 0);
+ } while (ret != (short)GTSRetCode.GRCRunOK && !isSuccessSetAxisParam && repeatTime > 0);
//杩愬姩寮�濮嬪悗 妫�鏌ヨ繍鍔ㄦ槸鍚﹀仠姝�
bool isStop = false;
@@ -354,7 +439,7 @@
/// 缁濆浣嶇疆杩愬姩
/// </summary>
/// <param name="optionPara">杩愬姩鍙傛暟瀵硅薄</param>
- public bool MoveAbs(MovingOption optionPara)
+ public bool P2PMoveAbs(MovingOption optionPara)
{
try
{
@@ -382,9 +467,12 @@
}
LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "寮�濮嬭繍鍔�", "鐩爣鍧愭爣锛�" + optionPara.Destination);
short ret = 0;
- repeatTime = 1000;
+ repeatTime = 100;
+ bool isSuccessSetAxisParam = false;
do
{
+ //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 * IConfig.AxisVelocityRatio));// 璁剧疆瑙勫垝浣嶇疆
ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//鏇存柊杩愬姩
@@ -394,7 +482,7 @@
Thread.Sleep(50);
}
repeatTime--;
- } while (ret != (short)GTSRetCode.GRCRunOK && repeatTime > 0);
+ } while (ret != (short)GTSRetCode.GRCRunOK && !isSuccessSetAxisParam && repeatTime > 0);
bool isStop = false;
repeatTime = 1000;
@@ -416,41 +504,58 @@
}
/// <summary>
- /// 杩愬姩鍋滄
+ /// 鏌愪釜杞磋繍鍔ㄥ仠姝�
/// </summary>
/// <param name="axisNum">axisNo</param>
/// <param name="option">0琛ㄧず骞虫粦鍋滄锛�1琛ㄧず绱ф�ュ仠姝�</param>
/// <returns></returns>
- public void MoveStop(int axisNum, int option)
+ public async Task<bool> MoveStop(int axisNum, int option)
{
- if (option == 1)
+ return await Task.Run(() =>
{
- StateChange(EnumHelper.DeviceState.DSExcept);
- }
- var ret = GTSCardAPI.GT_Stop((short)IConfig.CardNum, 1 << (axisNum - 1), option);
- 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);
- }
- else
- {
- LogAsync(DateTime.Now, "杞�" + axisNum + "杩愬姩鍋滄", "");
- }
+ bool isStop = false;
+ if (option == 1)
+ {
+ StateChange(EnumHelper.DeviceState.DSExcept);
+ }
+ var ret = GTSCardAPI.GT_Stop((short)IConfig.CardNum, 1 << (axisNum - 1), option);
+ 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);
+ }
+ else
+ {
+ LogAsync(DateTime.Now, "杞�" + axisNum + "杩愬姩鍋滄", "");
+ }
+ int repeatTime = 100;
+ do
+ {
+ isStop = IsStop((short)IConfig.CardNum, (short)axisNum);
+ Thread.Sleep(10);
+ repeatTime--;
+ } while (!isStop && repeatTime > 0);
+
+ return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
+ });
}
/// <summary>
- /// 鎵�鏈夊紑鍚殑杞村叧闂�
+ /// 鎵�鏈夊紑鍚殑杞村仠姝�
/// </summary>
/// <param name="emergencyStop"></param>
public void AllMoveStop(bool emergencyStop = false)
{
int option = emergencyStop ? 1 : 0;
-
+ List<Task<bool>> taskList = new List<Task<bool>>(); ;
+ // 濡傛灉鏄涓酱鐨勮繍鍔� 绛夋瘡涓酱杩愬姩缁撴潫
IConfig.AxisSettings.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>
{
- MoveStop(axisNum.AxisIndex, option);
+ var task = MoveStop(axisNum.AxisIndex, option);
+ taskList.Add(task);
});
+ Task.WaitAll(taskList.ToArray());
+ var resultOK = taskList.All(u => u.GetAwaiter().GetResult());
}
/// <summary>
@@ -506,7 +611,7 @@
}
/// <summary>
- /// 璇诲彇杈撳叆
+ /// 璇诲彇IO杈撳叆
/// </summary>
/// <param name="cardNum">鍗″彿</param>
/// <param name="index">杈撳叆鍙�</param>
@@ -515,12 +620,27 @@
{
int value;
GTSCardAPI.GT_GetDi(cardNum, GTSCardAPI.MC_GPI, out value);
- if ((value & 1 << index) == 0) return true;//鏈夎緭鍏ヨ繑鍥瀟rue
+ if ((value & (1 << index)) == 0) return true;//鏈夎緭鍏ヨ繑鍥瀟rue
else return false; //鏃犺緭鍏ヨ繑鍥瀎alse
}
/// <summary>
- /// 杈撳嚭
+ /// 璇诲彇IO杈撳嚭
+ /// </summary>
+ /// <param name="cardNum"></param>
+ /// <param name="index"></param>
+ /// <returns></returns>
+ public bool GetDoSts(short cardNum, short index)
+ {
+ int outSts;
+ short outNum = (short)(index % 100);
+ GTSCardAPI.GT_GetDo(cardNum, GTSCardAPI.MC_GPO, out outSts);
+ if ((outSts & (1 << outNum)) == 0) return true;
+ else return false;
+ }
+
+ /// <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>
@@ -536,59 +656,6 @@
{
GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 1);
}
- }
-
- /// <summary>
- /// 鍋滄 鏌愪釜杞�
- /// </summary>
- /// <param name="cardNum"></param>
- /// <param name="axisNum">杞村彿</param>
- /// <param name="value">鍋滄鏂瑰紡锛宖alse琛ㄧず骞虫粦鍋滄锛宼rue琛ㄧず绱ф�ュ仠姝�</param>
- public void Stop(short cardNum, short axisNum, bool emergencyStop)
- {
- if (emergencyStop)
- {
- GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 1 << (axisNum - 1));
- }
- else
- {
- GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 0);
- }
- }
-
- /// <summary>
- /// IO杈撳嚭
- /// </summary>
- /// <param name="cardNum">鍗″彿</param>
- /// <param name="mdl">妯″潡鍙�</param>
- /// <param name="index">IO杈撳嚭</param>
- /// <param name="value">true琛ㄧず杈撳嚭锛宖alse琛ㄧず鏃犺緭鍑�</param>
- public void MC_WriteDigitalOutput(short cardNum, short mdl, short index, bool value)
- {
- if (value)
- {
- GTSCardAPI.GT_SetExtIoBit(cardNum, mdl, index, 0);
- }
- else
- {
- GTSCardAPI.GT_SetExtIoBit(cardNum, mdl, index, 1);
- }
- }
-
- /// <summary>
- /// 璇诲彇IO杈撳嚭鐘舵��
- /// </summary>
- /// <param name="cardNum"></param>
- /// <param name="index"></param>
- /// <returns></returns>
- public bool GetDoSts(short cardNum, short index)
- {
- short outNum = 0;
- int outSts;
- outNum = (short)(index % 100);
- GTSCardAPI.GT_GetDo(cardNum, GTSCardAPI.MC_GPO, out outSts);
- if ((outSts & (1 << outNum)) == 0) return true;
- else return false;
}
/// <summary>
@@ -611,16 +678,243 @@
#endregion
- public void Monitor()
+ #region IMonitor
+ public event Action<DateTime, string, IDevice, IMonitorSet> OnMonitorInvoke;
+ public event Action<DateTime, IDevice, IWarningSet> OnMonitorAlarm;
+
+ public List<IOItem> MonitorValues { get; set; } = new List<IOItem>();
+
+
+ public List<IOItem> GetMonitorValues()
{
- throw new NotImplementedException();
+ var result = new List<IOItem>();
+ //璇诲彇IO杈撳叆
+ int inValue;
+ GTSCardAPI.GT_GetDi((short)IConfig.CardNum, GTSCardAPI.MC_GPI, out inValue);
+ //璇诲彇IO杈撳嚭
+ int outValue;
+ GTSCardAPI.GT_GetDo((short)IConfig.CardNum, GTSCardAPI.MC_GPO, out outValue);
+
+ //瑙ｆ瀽缁撴灉
+ for (var index = 1; index <= 16; index++)
+ {
+ IOItem inItem = new IOItem()
+ {
+ IONum = index,
+ Value = (inValue & (1 << index)) == 0 ? 1 : 0,
+ Model = IOModel.In
+ };
+ IOItem outItem = new IOItem()
+ {
+ IONum = index,
+ Value = (outValue & (1 << index)) == 0 ? 1 : 0,
+ Model = IOModel.Out
+ };
+ result.Add(inItem);
+ result.Add(outItem);
+ }
+
+ return result;
+ }
+
+ public async void Monitor()
+ {
+ await Task.Run(() =>
+ {
+ while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept && CurrentState != EnumHelper.DeviceState.DSUninit)
+ {
+ try
+ {
+ if (!IConfig.IsEnableMonitor)
+ return;
+ var newValues = GetMonitorValues();
+ if (newValues == null || newValues.Count == 0)
+ continue;
+
+ Stopwatch sw = new Stopwatch();
+ sw.Start();
+ if (MonitorValues.Count == newValues.Count)
+ {
+ var tempNew = new List<IOItem>(newValues);//clone
+ var tempOld = new List<IOItem>(MonitorValues);
+ MonitorCheckAndInvoke(tempNew, tempOld);
+ }
+ 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)
+ {
+ Thread.Sleep(IConfig.MonitorInterval);
+ }
+
+ }
+ catch (Exception ex)
+ {
+ if (CurrentState == DeviceState.DSOpen)
+ {
+ LogAsync(DateTime.Now, $"{this.Name}鐩戝惉寮傚父", ex.GetExceptionMessage());
+ }
+ }
+ }
+ });
+ }
+
+ private void OnMethodInvoked(IAsyncResult ar)
+ {
+ 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.Model == IOModel.Out)
+ {
+ 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)
+ {
+ #region 璀︽姤淇℃伅
+ Parallel.ForEach(IConfig.WarningSetCollection, wSet =>
+ {
+ MotionCardWarningSet warningSet = wSet as MotionCardWarningSet;
+
+ bool isOn = ((tempNew.FirstOrDefault(u => u.IONum == warningSet.TriggerIndex && u.Model == warningSet.WarningIOModel)?.Value >> warningSet.TriggerIndex) & 1) == (warningSet.TriggerValue ? 1 : 0);
+
+ if (warningSet.CurrentStatus != isOn)
+ {
+ warningSet.CurrentStatus = isOn;
+ warningSet.TriggerTime = DateTime.Now;
+ warningSet.WarningDescription = $"璀︽姤锛歿warningSet.Name}-瑙﹀彂绱㈠紩锛歿warningSet.TriggerIndex}-{warningSet.WarningIOModel.GetEnumDescription()}:{warningSet.WarningCode}";
+ SaveAlarmCSVAsync(DateTime.Now, this.Name, warningSet);
+ OnMonitorAlarm?.BeginInvoke(DateTime.Now, this, warningSet, null, null);
+ }
+ });
+ #endregion
+
+ #region 鐩戝惉淇℃伅
+ Parallel.ForEach(IConfig.MonitorSetCollection, mSet =>
+ {
+ MotionCardMonitorSet monitorSet = mSet as MotionCardMonitorSet;
+ if (monitorSet.TriggerIndex < 0 || monitorSet.TriggerIndex > tempNew.Count)
+ {
+ return;
+ }
+
+ var newIOItem = tempNew.FirstOrDefault(u => u.IONum == monitorSet.TriggerIndex);
+ var oldIOItem = tempOld.FirstOrDefault(u => u.IONum == monitorSet.TriggerIndex);
+
+ if (newIOItem?.Value != oldIOItem?.Value)
+ {
+ if (monitorSet.TriggerValue == -999 || newIOItem.Value == monitorSet.TriggerValue)
+ {
+ if (monitorSet.OpConfig == null)
+ {
+ monitorSet.OpConfig = new OperationConfigBase();
+ }
+
+ //monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
+ //{
+ // return tempNew[index].Value;
+ //}).ToList();
+
+ OnMonitorInvoke?.BeginInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet, OnMethodInvoked, monitorSet);
+ }
+ }
+ });
+ #endregion
}
public void ResetAlarm()
{
- throw new NotImplementedException();
+ int axis_sts;
+ uint clk;
+ var axisSettings = IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled);
+ GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, 1, (short)axisSettings.Count);
+ foreach (var axisSetting in axisSettings)
+ {
+ GTSCardAPI.GT_GetSts((short)IConfig.CardNum, (short)axisSetting.AxisIndex, out axis_sts, 1, out clk);
+ if ((axis_sts & 0x200) == 0)
+ {
+ var rst = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisSetting.AxisIndex);
+ }
+ // 浣嶇疆璇烽浂
+ GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, 1, (short)axisSettings.Count);
+ // 姝ｆ瀬闄愭姤璀�
+ if ((axis_sts & 0x20) != 0)
+ {
+ // 璐熷悜绉诲姩
+ MovingOption movingOption = new MovingOption();
+ movingOption.AxisIndex = (short)axisSetting.AxisIndex;
+ movingOption.Destination = -50; // 璐熷悜绉诲姩
+ movingOption.VelocityPara.Velocity = 50;
+ P2PMoveAbs(movingOption);
+ }
+
+ // 璐熸瀬闄愭姤璀�
+ if ((axis_sts & 0x40) != 0)
+ {
+ // 姝ｅ悜绉诲姩
+ MovingOption movingOption = new MovingOption();
+ movingOption.AxisIndex = (short)axisSetting.AxisIndex;
+ movingOption.Destination = 50; // 璐熷悜绉诲姩
+ movingOption.VelocityPara.Velocity = 50;
+ P2PMoveAbs(movingOption);
+ }
+ }
+
+ // 娓呴櫎鐘舵��
+ GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, 1, (short)IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled).Count);
}
+ object _alarmLock = new object();
+ private async void SaveAlarmCSVAsync(DateTime now, string plcName, IWarningSet ws)
+ {
+ await Task.Run(() =>
+ {
+ lock (_alarmLock)
+ {
+ DirectoryInfo dir = new DirectoryInfo(this.IConfig.LogPath);
+ if (!dir.Exists)
+ {
+ dir.Create();
+ }
+ string path = Path.Combine(IConfig.LogPath, $"Alarm_{Name}_{now.ToString("yyyyMMdd")}.csv");
+ bool fileExist = File.Exists(path);
+
+ using (StreamWriter writer = new StreamWriter(path, true, System.Text.Encoding.UTF8))
+ {
+ if (!fileExist)
+ {
+ writer.WriteLine("Time,Source,AlarmCode,AlarmDescription,AlarmStatus");
+ }
+
+ writer.WriteLine($"{now.ToString("HH:mm:ss.fff")},{plcName},{ws.WarningCode},{ws.WarningDescription},{(ws.CurrentStatus ? "鎶ヨ" : "鍋滄")}");
+
+ writer.Flush();
+ writer.Close();
+ }
+ }
+ });
+ }
+ #endregion
}
}
--
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