From aeae986de8bed7dbae02d3632cda82f291fff0ec Mon Sep 17 00:00:00 2001
From: wells <123>
Date: 星期六, 11 七月 2020 16:59:04 +0800
Subject: [PATCH] 固高板卡配置输出ProcessException
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 134 ++++++++++++++++++++++++++++++++++++++------
1 files changed, 114 insertions(+), 20 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index cd6746f..a09fda2 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -269,7 +269,7 @@
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);
}
}
@@ -377,7 +377,7 @@
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;
}
@@ -425,7 +425,8 @@
break;
case MotionMode.FindOri:
{
- isSuccessAndStop = GoHome(optionPara);
+ //isSuccessAndStop = GoHome(optionPara);
+ isSuccessAndStop = P2PGoHome(optionPara);
}
break;
case MotionMode.Jog:
@@ -460,10 +461,10 @@
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 ;
+ position = prfpos;
return position;
}
@@ -481,7 +482,7 @@
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;
@@ -501,7 +502,7 @@
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;
}
@@ -517,7 +518,7 @@
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;
}
@@ -575,7 +576,7 @@
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;
@@ -594,7 +595,7 @@
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);
@@ -608,7 +609,7 @@
{
//璁剧疆 杩愬姩鍙傛暟
isSuccessSetAxisParam = SetAxisParam(optionPara);
- ret = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition * AxisRatio));// 璁剧疆鐩殑浣嶇疆
+ 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)
@@ -628,8 +629,8 @@
repeatTime = 1000;
do
{
- isStop = IsStop((short)optionPara.AxisIndex);
Thread.Sleep(50);
+ isStop = IsStop((short)optionPara.AxisIndex);
repeatTime--;
} while (!isStop && repeatTime > 0);
@@ -656,7 +657,7 @@
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)
@@ -673,7 +674,7 @@
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);
short ret = 0;
@@ -684,7 +685,7 @@
{
//璁剧疆 杩愬姩鍙傛暟
isSuccessSetAxisParam = SetAxisParam(optionPara);
- 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_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)
@@ -703,8 +704,8 @@
repeatTime = 1000;
while (!isStop && repeatTime > 0)
{
- isStop = IsStop((short)optionPara.AxisIndex);
Thread.Sleep(50);
+ isStop = IsStop((short)optionPara.AxisIndex);
repeatTime--;
}
@@ -737,7 +738,7 @@
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
{
@@ -746,8 +747,8 @@
int repeatTime = 100;
do
{
- isStop = IsStop((short)axisNum);
Thread.Sleep(10);
+ isStop = IsStop((short)axisNum);
repeatTime--;
} while (!isStop && repeatTime > 0);
@@ -786,7 +787,13 @@
PositionReset(movingOption.AxisIndex, 1);
GTSCardAPI.THomePrm thomeprm;
GTSCardAPI.THomeStatus homests;
- short rtn = GTSCardAPI.GT_GetHomePrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out thomeprm);
+ // 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;
@@ -794,7 +801,7 @@
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.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
@@ -826,6 +833,93 @@
}
/// <summary>
+ /// P2P鏂瑰紡鍥炲師鐐�
+ /// </summary>
+ /// <param name="movingOption">杩愬姩鍙傛暟</param>
+ public bool P2PGoHome(MovingOption movingOption)
+ {
+ try
+ {
+ PositionReset(movingOption.AxisIndex, 1);
+ ClearStatus(movingOption.AxisIndex, 1);
+ GTSCardAPI.TTrapPrm trapPrm;
+ bool isStop = false;
+ //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, movingOption.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.SearchHomeDistance);
+ // 鍚姩杩愬姩
+ sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
+
+ int repeatTime = 1000;
+ short capture;
+ int pos;
+ uint clk;//鏃堕挓鍙傛暟
+ do
+ {
+ Thread.Sleep(20);
+ // 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--;
+ } while (!(isStop || capture == 1 || repeatTime <= 0));
+
+ if (repeatTime <= 0)
+ {
+ MoveStop((short)movingOption.AxisIndex, 0);
+ throw new ProcessException($"杩愬姩杞磠movingOption.AxisIndex} 锛屽洖鍘熺偣瓒呮椂寮傚父");
+ }
+ if (isStop && capture != 1)
+ {
+
+ ClearStatus((short)movingOption.AxisIndex, 1);
+ throw new ProcessException($"杩愬姩杞磠movingOption.AxisIndex} 锛屽洖鍘熺偣瓒呮椂寮傚父");
+ }
+
+ if (capture == 1)
+ {
+ //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);
+ // 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);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
+ return false;
+ }
+ }
+
+ /// <summary>
/// 璇诲彇IO杈撳叆
/// </summary>
/// <param name="cardNum">鍗″彿</param>
--
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