From b016e35f170a6e1a98d39f125762f97af677fd20 Mon Sep 17 00:00:00 2001
From: wells.liu <wells.liu@broconcentric.com>
Date: 星期一, 06 七月 2020 18:17:30 +0800
Subject: [PATCH] 板卡 运行 +操作界面
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 116 ++++++++++++++++++++++++++++++++++++++++------------------
1 files changed, 80 insertions(+), 36 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index adba5c9..c2a4783 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -413,6 +413,41 @@
}
/// <summary>
+ /// 鑾峰彇瑙勫垝閫熷害
+ /// </summary>
+ /// <param name="axisNum">Axis number</param>
+ /// <returns></returns>
+ public double GetPrfVelocity(int axisNum)
+ {
+ double prfVel = 0;
+ uint pclock = 0;
+ 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);
+ }
+ prfVel = prfVel / IConfig.AxisVelocityRatio;
+ return prfVel;
+ }
+
+ /// <summary>
+ /// 鑾峰彇褰撳墠閫熷害
+ /// </summary>
+ /// <param name="axisNum">Axis number</param>
+ /// <returns></returns>
+ public double GetVelocity(int axisNum)
+ {
+ double vel = 0;
+ 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);
+ }
+ vel = vel / IConfig.AxisVelocityRatio;
+ return vel;
+ }
+
+ /// <summary>
/// Set Single Axis Do Jog Move
/// </summary>
/// <param name="axisNum">AxisNo</param>
@@ -437,7 +472,7 @@
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);
+ LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "JogMove寮傚父", "閿欒鐮侊細" + ret + ";" + "閲嶈瘯娆℃暟锛�" + repeatTime);
Thread.Sleep(10);
}
repeatTime--;
@@ -450,29 +485,6 @@
OnExceptionRaised?.Invoke(ex);
return false;
}
-
- }
-
- /// <summary>
- /// Set Single Axis Do stop Jog Move
- /// </summary>
- /// <param name="axisNum">AxisNo</param>
- /// <returns></returns>
- public bool StopJog(int axisNum)
- {
- //鍋滄杩愬姩
- MoveStop(axisNum, 0);
- //杩愬姩寮�濮嬪悗 妫�鏌ヨ繍鍔ㄦ槸鍚﹀仠姝�
- bool isStop = false;
- int repeatTime = 1000;
- do
- {
- isStop = IsStop((short)IConfig.CardNum, (short)axisNum);
- Thread.Sleep(50);
- repeatTime--;
- } while (!isStop && repeatTime > 0);
-
- return isStop;
}
/// <summary>
@@ -540,7 +552,7 @@
repeatTime = 1000;
do
{
- isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
+ isStop = IsStop((short)optionPara.AxisIndex);
Thread.Sleep(50);
repeatTime--;
} while (!isStop && repeatTime > 0);
@@ -612,7 +624,7 @@
repeatTime = 1000;
do
{
- isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
+ isStop = IsStop((short)optionPara.AxisIndex);
Thread.Sleep(50);
repeatTime--;
} while (!isStop && repeatTime > 0);
@@ -655,7 +667,7 @@
int repeatTime = 100;
do
{
- isStop = IsStop((short)IConfig.CardNum, (short)axisNum);
+ isStop = IsStop((short)axisNum);
Thread.Sleep(10);
repeatTime--;
} while (!isStop && repeatTime > 0);
@@ -787,23 +799,53 @@
/// <param name="cardNum">鏉垮崱鍙�</param>
/// <param name="axisNum">杞村彿</param>
/// <returns></returns>
- public bool IsStop(short cardNum, short axisNum)
+ public bool IsStop(short axisNum)
+ {
+ int sts = GetAxisStatus(axisNum);
+ if ((sts & 0x400) == 0) return true;//鍋滄杩斿洖true
+ else return false; //杩愯涓繑鍥瀎alse
+ }
+
+ /// <summary>
+ /// 璇诲彇杞寸姸鎬�
+ /// </summary>
+ /// <param name="cardNum">鏉垮崱鍙�</param>
+ /// <param name="axisNum">杞村彿</param>
+ /// <returns></returns>
+ public int GetAxisStatus(int axisNum)
{
lock (moveLock)
{
int sts = 0;
uint pclock = 0;
- GTSCardAPI.GT_GetSts(cardNum, axisNum, out sts, 1, out pclock);
- if ((sts & 0x400) == 0) return true;//鍋滄杩斿洖true
- else return false; //杩愯涓繑鍥瀎alse
+ GTSCardAPI.GT_GetSts((short)IConfig.CardNum, (short)axisNum, out sts, 1, out pclock);
+ return sts;
}
}
-
#endregion
#region IMonitor
- //public List<IOItem> MonitorValues { get; set; } = new List<IOItem>();
+ public List<AxisMovingStatus> GetAxisMovingStatus()
+ {
+ List<AxisMovingStatus> axisMovingStatusesList = new List<AxisMovingStatus>();
+ foreach (var axisConfig in IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled))
+ {
+ AxisMovingStatus axisMovingStatus = new AxisMovingStatus();
+ axisMovingStatus.AxisIndex = axisConfig.AxisIndex;
+ axisMovingStatus.AxisName = axisConfig.AxisName;
+ 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.AxisStatus = GetAxisStatus(axisMovingStatus.AxisIndex);
+
+ axisMovingStatusesList.Add(axisMovingStatus);
+
+ }
+
+ return axisMovingStatusesList;
+ }
public List<IOItem> GetMonitorValues()
@@ -849,7 +891,8 @@
if (!IConfig.IsEnableMonitor)
return;
var newValues = GetMonitorValues();
- if (newValues == null || newValues.Count == 0)
+ var newAxisMovingStatus = GetAxisMovingStatus();
+ if (newValues == null || newValues.Count == 0 || newAxisMovingStatus == null || newAxisMovingStatus.Count == 0)
continue;
Stopwatch sw = new Stopwatch();
@@ -860,6 +903,8 @@
var tempOld = MonitorValues.DeepSerializeClone();
MonitorCheckAndInvoke(tempNew, tempOld);
}
+
+ AxisMovingOptionValues = new List<AxisMovingStatus>(newAxisMovingStatus);
MonitorValues = new List<IOItem>(newValues);
sw.Stop();
@@ -965,12 +1010,11 @@
public override void ResetAlarm()
{
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);
+ axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
if ((axis_sts & 0x200) == 0)
{
var rst = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisSetting.AxisIndex);
--
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