From bd676464185d6e4b5bfc04c2031acfbf497b9b52 Mon Sep 17 00:00:00 2001
From: xcd <834800634@qq.com>
Date: 星期二, 30 六月 2020 08:54:21 +0800
Subject: [PATCH] Merge branch 'master' of http://gitblit.broconcentric.com:8088/r/M071
---
src/Bro.Device.GTSCard/Bro.Device.GTSCard.csproj | 15
src/Bro.Device.GTSCard/GTSCardDriver.cs | 589 +++++++++++--
/dev/null | 78 -
src/Bro.Device.GTSCard/GTS800.cfg | 793 ++++++++++++++++++
src/Bro.Device.GTSCard/gts.dll | 0
src/Bro.Device.GTSCard/packages.config | 4
src/Bro.Common.Model/Helper/EnumHelper.cs | 140 +++
src/Bro.Device.GTSCard/GTSCardConfig.cs | 918 ++++++++++++++++----
8 files changed, 2,140 insertions(+), 397 deletions(-)
diff --git a/src/Bro.Common.Model/Helper/EnumHelper.cs b/src/Bro.Common.Model/Helper/EnumHelper.cs
index aa404aa..cc90e89 100644
--- a/src/Bro.Common.Model/Helper/EnumHelper.cs
+++ b/src/Bro.Common.Model/Helper/EnumHelper.cs
@@ -443,5 +443,145 @@
[Description("鐩告満鍧愭爣绯荤浉瀵硅繍鍔�")]
CameraRelativeMove = 12,
}
+
+ /// <summary>
+ /// 椹揪/杩愬姩鏉垮崱杩愯妯″紡
+ /// </summary>
+ public enum MotorMoveMode
+ {
+ /// <summary>
+ /// 鏅�氱偣浣嶈繍鍔�
+ /// </summary>
+ [Description("鏅�氱偣浣嶈繍鍔�")]
+ Normal = 1,
+
+ ///// <summary>
+ ///// 楂橀�熺瓑璺濊繍鍔�
+ ///// </summary>
+ //[Description("楂橀�熺瓑璺濊繍鍔�")]
+ //HighSpeedStep = 2,
+
+ ///// <summary>
+ ///// 楂橀�熶笉绛夎窛杩愬姩
+ ///// </summary>
+ //[Description("楂橀�熶笉绛夎窛杩愬姩")]
+ //HighSpeed = 3,
+
+ /// <summary>
+ /// 鎵炬闄愪綅杩愬姩
+ /// </summary>
+ [Description("鎵炬闄愪綅杩愬姩")]
+ FindPositive = 4,
+
+ /// <summary>
+ /// 绂诲紑姝ｉ檺浣�
+ /// </summary>
+ [Description("绂诲紑姝ｉ檺浣�")]
+ LeavePositive = 5,
+
+ /// <summary>
+ /// 鎵捐礋闄愪綅杩愬姩
+ /// </summary>
+ [Description("鎵捐礋闄愪綅杩愬姩")]
+ FindNegative = 6,
+
+ /// <summary>
+ /// 绂诲紑璐熼檺浣�
+ /// </summary>
+ [Description("绂诲紑璐熼檺浣�")]
+ LeaveNegative = 7,
+
+ /// <summary>
+ /// 鎵惧師鐐硅繍鍔�
+ /// </summary>
+ [Description("鎵惧師鐐硅繍鍔�")]
+ FindOri = 8,
+
+ /// <summary>
+ /// Jog妯″紡
+ /// </summary>
+ [Description("Jog妯″紡")]
+ Jog = 9,
+
+ /// <summary>
+ /// 璇绘暟澶存壘鍘熺偣鏂瑰紡
+ /// </summary>
+ [Description("璇绘暟澶存壘鍘熺偣鏂瑰紡")]
+ FindOriIndex = 10,
+
+ /// <summary>
+ /// 鎻掕ˉ妯″紡
+ /// </summary>
+ [Description("鎻掕ˉ妯″紡")]
+ Coordinate = 11,
+
+ ///// <summary>
+ ///// 鍒�鍚戞洿闅忓姛鑳�
+ ///// </summary>
+ //[Description("鍒�鍚戞洿闅忓姛鑳�")]
+ //BufMove = 12,
+ }
+
+ /// <summary>
+ /// 椹揪IO瀹氫箟绫诲瀷
+ /// </summary>
+ public enum MotorIODefine
+ {
+ Nothing,
+ InputStartLeft,
+ InputStartRight,
+ InputCurtainLeft,
+ InputCurtainRight,
+ InputSafeDoor,
+ InputEmergency,
+ InputReset,
+ InputScrew1,
+ InputScrew2,
+ InputSuckLeft,
+ InputSuckRight,
+ InputSuckXYZ,
+ InputCylinderLeftLimitFront,
+ InputCylinderLeftLimitBack,
+ InputCylinderRightLimitFront,
+ InputCylinderRightLimitBack,
+
+
+ OutputYellow,
+ OutputGreen,
+ OutputRed,
+ OutputBeep,
+ OutputLight,
+ OutputMotorPower,
+ OutputInitOK,
+ OutputZLock,
+ OutputLeftCylinder,
+ OutputRightCylinder,
+ OutputLeftSuck,
+ OutputRightSuck,
+ OutputScrewBlow,
+ OutputCamera,
+ OutputScrewSuck,
+ }
+
+ /// <summary>
+ /// GTS杩愬姩鏉垮崱鎺у埗杩斿洖鎺у埗鐮�
+ /// </summary>
+ public enum GTSRetCode
+ {
+ [Description("鎸囦护鎵ц鎴愬姛")]
+ GRCRunOK = 0, // 鎸囦护鎵ц鎴愬姛
+ [Description("鎸囦护鎵ц閿欒")]
+ GRCRunErr = 1, // 鎸囦护鎵ц閿欒
+ [Description("icense涓嶆敮鎸�")]
+ GRCNotSupport = 2, // icense涓嶆敮鎸�
+ [Description("鎸囦护鍙傛暟閿欒")]
+ GRCInvalidParam = 7, // 鎸囦护鍙傛暟閿欒
+ [Description("涓绘満鍜岃繍鍔ㄦ帶鍒跺櫒閫氳澶辫触")]
+ GRCCommErr = -1, // 涓绘満鍜岃繍鍔ㄦ帶鍒跺櫒閫氳澶辫触
+ [Description("鎵撳紑鎺у埗鍣ㄥけ璐�")]
+ GRCOpenErr = -6, // 鎵撳紑鎺у埗鍣ㄥけ璐�
+ [Description("杩愬姩鎺у埗鍣ㄦ病鏈夊搷搴�")]
+ GRCNotAck = -7 // 杩愬姩鎺у埗鍣ㄦ病鏈夊搷搴�
+ }
}
}
diff --git a/src/Bro.Device.GTSCard/Bro.Device.GTSCard.csproj b/src/Bro.Device.GTSCard/Bro.Device.GTSCard.csproj
index d26bb8b..88abfb9 100644
--- a/src/Bro.Device.GTSCard/Bro.Device.GTSCard.csproj
+++ b/src/Bro.Device.GTSCard/Bro.Device.GTSCard.csproj
@@ -31,6 +31,9 @@
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<ItemGroup>
+ <Reference Include="Newtonsoft.Json, Version=11.0.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
+ <HintPath>..\..\packages\Newtonsoft.Json.11.0.2\lib\net45\Newtonsoft.Json.dll</HintPath>
+ </Reference>
<Reference Include="System" />
<Reference Include="System.Configuration" />
<Reference Include="System.Core" />
@@ -45,12 +48,7 @@
<ItemGroup>
<Compile Include="GTSCardDriver.cs" />
<Compile Include="GTSCardConfig.cs" />
- <Compile Include="GtsCardManager.cs" />
<Compile Include="GTSCardAPI.cs" />
- <Compile Include="GtsIO.cs" />
- <Compile Include="GtsMotionCard.cs" />
- <Compile Include="GtsParameter.cs" />
- <Compile Include="GtsPos.cs" />
<Compile Include="Properties\AssemblyInfo.cs" />
</ItemGroup>
<ItemGroup>
@@ -63,5 +61,12 @@
<Name>Bro.Common.Model</Name>
</ProjectReference>
</ItemGroup>
+ <ItemGroup>
+ <Content Include="gts.dll" />
+ </ItemGroup>
+ <ItemGroup>
+ <None Include="GTS800.cfg" />
+ <None Include="packages.config" />
+ </ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
</Project>
\ No newline at end of file
diff --git a/src/Bro.Device.GTSCard/GTS800.cfg b/src/Bro.Device.GTSCard/GTS800.cfg
new file mode 100644
index 0000000..ac68f46
--- /dev/null
+++ b/src/Bro.Device.GTSCard/GTS800.cfg
@@ -0,0 +1,793 @@
+[profile1]
+active=1
+decSmoothStop=1.000000
+decAbruptStop=1000.000000
+[profile2]
+active=1
+decSmoothStop=1.000000
+decAbruptStop=1000.000000
+[profile3]
+active=1
+decSmoothStop=1.000000
+decAbruptStop=1000.000000
+[profile4]
+active=1
+decSmoothStop=1.000000
+decAbruptStop=1000.000000
+[profile5]
+active=1
+decSmoothStop=1.000000
+decAbruptStop=1000.000000
+[profile6]
+active=1
+decSmoothStop=1.000000
+decAbruptStop=1000.000000
+[profile7]
+active=1
+decSmoothStop=1.000000
+decAbruptStop=1000.000000
+[profile8]
+active=1
+decSmoothStop=1.000000
+decAbruptStop=1000.000000
+[axis1]
+active=1
+alarmType=2
+alarmIndex=1
+limitPositiveType=0
+limitPositiveIndex=1
+limitNegativeType=1
+limitNegativeIndex=1
+smoothStopType=4
+smoothStopIndex=-1
+abruptStopType=4
+abruptStopIndex=5
+prfMap=0x1
+encMap=0x1
+prfMapAlpha1=1
+prfMapBeta1=1
+prfMapAlpha2=1
+prfMapBeta2=1
+encMapAlpha1=1
+encMapBeta1=1
+encMapAlpha2=1
+encMapBeta2=1
+[axis2]
+active=1
+alarmType=2
+alarmIndex=2
+limitPositiveType=0
+limitPositiveIndex=2
+limitNegativeType=1
+limitNegativeIndex=2
+smoothStopType=4
+smoothStopIndex=-1
+abruptStopType=4
+abruptStopIndex=5
+prfMap=0x2
+encMap=0x2
+prfMapAlpha1=1
+prfMapBeta1=1
+prfMapAlpha2=1
+prfMapBeta2=1
+encMapAlpha1=1
+encMapBeta1=1
+encMapAlpha2=1
+encMapBeta2=1
+[axis3]
+active=1
+alarmType=2
+alarmIndex=3
+limitPositiveType=0
+limitPositiveIndex=3
+limitNegativeType=1
+limitNegativeIndex=3
+smoothStopType=4
+smoothStopIndex=-1
+abruptStopType=4
+abruptStopIndex=5
+prfMap=0x4
+encMap=0x4
+prfMapAlpha1=1
+prfMapBeta1=1
+prfMapAlpha2=1
+prfMapBeta2=1
+encMapAlpha1=1
+encMapBeta1=1
+encMapAlpha2=1
+encMapBeta2=1
+[axis4]
+active=1
+alarmType=2
+alarmIndex=4
+limitPositiveType=0
+limitPositiveIndex=4
+limitNegativeType=1
+limitNegativeIndex=4
+smoothStopType=4
+smoothStopIndex=-1
+abruptStopType=4
+abruptStopIndex=5
+prfMap=0x8
+encMap=0x8
+prfMapAlpha1=1
+prfMapBeta1=1
+prfMapAlpha2=1
+prfMapBeta2=1
+encMapAlpha1=1
+encMapBeta1=1
+encMapAlpha2=1
+encMapBeta2=1
+[axis5]
+active=1
+alarmType=2
+alarmIndex=5
+limitPositiveType=0
+limitPositiveIndex=5
+limitNegativeType=1
+limitNegativeIndex=5
+smoothStopType=4
+smoothStopIndex=-1
+abruptStopType=4
+abruptStopIndex=-1
+prfMap=0x10
+encMap=0x10
+prfMapAlpha1=1
+prfMapBeta1=1
+prfMapAlpha2=1
+prfMapBeta2=1
+encMapAlpha1=1
+encMapBeta1=1
+encMapAlpha2=1
+encMapBeta2=1
+[axis6]
+active=1
+alarmType=2
+alarmIndex=6
+limitPositiveType=0
+limitPositiveIndex=6
+limitNegativeType=1
+limitNegativeIndex=6
+smoothStopType=4
+smoothStopIndex=-1
+abruptStopType=4
+abruptStopIndex=-1
+prfMap=0x20
+encMap=0x20
+prfMapAlpha1=1
+prfMapBeta1=1
+prfMapAlpha2=1
+prfMapBeta2=1
+encMapAlpha1=1
+encMapBeta1=1
+encMapAlpha2=1
+encMapBeta2=1
+[axis7]
+active=1
+alarmType=2
+alarmIndex=7
+limitPositiveType=0
+limitPositiveIndex=7
+limitNegativeType=1
+limitNegativeIndex=7
+smoothStopType=4
+smoothStopIndex=-1
+abruptStopType=4
+abruptStopIndex=-1
+prfMap=0x40
+encMap=0x40
+prfMapAlpha1=1
+prfMapBeta1=1
+prfMapAlpha2=1
+prfMapBeta2=1
+encMapAlpha1=1
+encMapBeta1=1
+encMapAlpha2=1
+encMapBeta2=1
+[axis8]
+active=1
+alarmType=2
+alarmIndex=8
+limitPositiveType=0
+limitPositiveIndex=8
+limitNegativeType=1
+limitNegativeIndex=8
+smoothStopType=4
+smoothStopIndex=-1
+abruptStopType=4
+abruptStopIndex=-1
+prfMap=0x80
+encMap=0x80
+prfMapAlpha1=1
+prfMapBeta1=1
+prfMapAlpha2=1
+prfMapBeta2=1
+encMapAlpha1=1
+encMapBeta1=1
+encMapAlpha2=1
+encMapBeta2=1
+[dac1]
+active=1
+control=-1
+reverse=0
+bias=0
+limit=32767
+[dac2]
+active=1
+control=-1
+reverse=0
+bias=0
+limit=32767
+[dac3]
+active=1
+control=-1
+reverse=0
+bias=0
+limit=32767
+[dac4]
+active=1
+control=-1
+reverse=0
+bias=0
+limit=32767
+[dac5]
+active=1
+control=-1
+reverse=0
+bias=0
+limit=32767
+[dac6]
+active=1
+control=-1
+reverse=0
+bias=0
+limit=32767
+[dac7]
+active=1
+control=-1
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+limit=32767
+[dac8]
+active=1
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+[dac9]
+active=1
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+[dac10]
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+[dac11]
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+limit=32767
+[dac12]
+active=1
+control=-1
+reverse=0
+bias=0
+limit=32767
+[step1]
+active=1
+axis=1
+mode=0
+parameter=0
+reverse=0
+[step2]
+active=1
+axis=2
+mode=0
+parameter=0
+reverse=0
+[step3]
+active=1
+axis=3
+mode=0
+parameter=0
+reverse=0
+[step4]
+active=1
+axis=4
+mode=0
+parameter=0
+reverse=0
+[encoder1]
+active=1
+reverse=1
+filterType=0
+captureSource=0
+captureHomeSense=0
+captureIndexSense=0
+[encoder2]
+active=1
+reverse=1
+filterType=0
+captureSource=0
+captureHomeSense=0
+captureIndexSense=0
+[encoder3]
+active=1
+reverse=1
+filterType=0
+captureSource=0
+captureHomeSense=0
+captureIndexSense=0
+[encoder4]
+active=1
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+captureIndexSense=0
+[encoder5]
+active=1
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+captureHomeSense=0
+captureIndexSense=0
+[encoder6]
+active=1
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+captureHomeSense=0
+captureIndexSense=0
+[encoder7]
+active=1
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+filterType=0
+captureSource=0
+captureHomeSense=0
+captureIndexSense=0
+[encoder8]
+active=1
+reverse=1
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+captureSource=0
+captureHomeSense=0
+captureIndexSense=0
+[encoder9]
+active=1
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+captureSource=0
+captureHomeSense=0
+captureIndexSense=0
+[encoder10]
+active=1
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+captureSource=0
+captureHomeSense=0
+captureIndexSense=0
+[encoder11]
+active=1
+reverse=1
+filterType=0
+captureSource=0
+captureHomeSense=0
+captureIndexSense=0
+[enable1]
+active=1
+axis=1
+axisItem=-1
+reverse=1
+[enable2]
+active=1
+axis=2
+axisItem=-1
+reverse=1
+[enable3]
+active=1
+axis=3
+axisItem=-1
+reverse=1
+[enable4]
+active=1
+axis=4
+axisItem=-1
+reverse=1
+[enable5]
+active=1
+axis=5
+axisItem=-1
+reverse=1
+[enable6]
+active=1
+axis=6
+axisItem=-1
+reverse=1
+[enable7]
+active=1
+axis=7
+axisItem=-1
+reverse=1
+[enable8]
+active=1
+axis=8
+axisItem=-1
+reverse=1
+[clear1]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[clear2]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[clear3]
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+axis=-1
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+reverse=0
+[clear4]
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+axis=-1
+axisItem=-1
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+[clear5]
+active=1
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+[clear6]
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+axis=-1
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+[clear7]
+active=1
+axis=-1
+axisItem=-1
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+[clear8]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[gpo1]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[gpo2]
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+axis=-1
+axisItem=-1
+reverse=1
+[gpo3]
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+axisItem=-1
+reverse=0
+[gpo4]
+active=1
+axis=-1
+axisItem=-1
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+[gpo5]
+active=1
+axis=-1
+axisItem=-1
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+[gpo6]
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+[gpo7]
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+[gpo8]
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+[gpo9]
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+[gpo10]
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+[gpo11]
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+[gpo12]
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+axisItem=-1
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+[gpo13]
+active=1
+axis=-1
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+[gpo14]
+active=1
+axis=-1
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+[gpo15]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[gpo16]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[limitPositive1]
+active=1
+reverse=0
+filterTime=3
+[limitPositive2]
+active=1
+reverse=0
+filterTime=3
+[limitPositive3]
+active=1
+reverse=0
+filterTime=3
+[limitPositive4]
+active=1
+reverse=0
+filterTime=3
+[limitPositive5]
+active=1
+reverse=0
+filterTime=3
+[limitPositive6]
+active=1
+reverse=0
+filterTime=3
+[limitPositive7]
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+filterTime=3
+[limitPositive8]
+active=1
+reverse=0
+filterTime=3
+[limitNegative1]
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+filterTime=3
+[limitNegative2]
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+filterTime=3
+[limitNegative3]
+active=1
+reverse=0
+filterTime=3
+[limitNegative4]
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+filterTime=3
+[limitNegative5]
+active=1
+reverse=0
+filterTime=3
+[limitNegative6]
+active=1
+reverse=0
+filterTime=3
+[limitNegative7]
+active=1
+reverse=0
+filterTime=3
+[limitNegative8]
+active=1
+reverse=0
+filterTime=3
+[alarm1]
+active=1
+reverse=0
+filterTime=3
+[alarm2]
+active=1
+reverse=0
+filterTime=3
+[alarm3]
+active=1
+reverse=0
+filterTime=3
+[alarm4]
+active=1
+reverse=0
+filterTime=3
+[alarm5]
+active=1
+reverse=0
+filterTime=3
+[alarm6]
+active=1
+reverse=0
+filterTime=3
+[alarm7]
+active=1
+reverse=0
+filterTime=3
+[alarm8]
+active=1
+reverse=0
+filterTime=3
+[home1]
+active=1
+reverse=0
+filterTime=3
+[home2]
+active=1
+reverse=0
+filterTime=3
+[home3]
+active=1
+reverse=0
+filterTime=3
+[home4]
+active=1
+reverse=0
+filterTime=3
+[home5]
+active=1
+reverse=0
+filterTime=3
+[home6]
+active=1
+reverse=0
+filterTime=3
+[home7]
+active=1
+reverse=0
+filterTime=3
+[home8]
+active=1
+reverse=0
+filterTime=3
+[gpi1]
+active=1
+reverse=0
+filterTime=3
+[gpi2]
+active=1
+reverse=0
+filterTime=3
+[gpi3]
+active=1
+reverse=0
+filterTime=3
+[gpi4]
+active=1
+reverse=0
+filterTime=3
+[gpi5]
+active=1
+reverse=0
+filterTime=3
+[gpi6]
+active=1
+reverse=0
+filterTime=3
+[gpi7]
+active=1
+reverse=0
+filterTime=3
+[gpi8]
+active=1
+reverse=0
+filterTime=3
+[gpi9]
+active=1
+reverse=0
+filterTime=3
+[gpi10]
+active=1
+reverse=0
+filterTime=3
+[gpi11]
+active=1
+reverse=0
+filterTime=3
+[gpi12]
+active=1
+reverse=0
+filterTime=3
+[gpi13]
+active=1
+reverse=0
+filterTime=3
+[gpi14]
+active=1
+reverse=0
+filterTime=3
+[gpi15]
+active=1
+reverse=0
+filterTime=3
+[gpi16]
+active=1
+reverse=0
+filterTime=3
+[arrive1]
+active=1
+reverse=0
+filterTime=3
+[arrive2]
+active=1
+reverse=0
+filterTime=3
+[arrive3]
+active=1
+reverse=0
+filterTime=3
+[arrive4]
+active=1
+reverse=0
+filterTime=3
+[arrive5]
+active=1
+reverse=0
+filterTime=3
+[arrive6]
+active=1
+reverse=0
+filterTime=3
+[arrive7]
+active=1
+reverse=0
+filterTime=3
+[arrive8]
+active=1
+reverse=0
+filterTime=3
+[mpg1]
+active=1
+reverse=0
+filterTime=3
+[mpg2]
+active=1
+reverse=0
+filterTime=3
+[mpg3]
+active=1
+reverse=0
+filterTime=3
+[mpg4]
+active=1
+reverse=0
+filterTime=3
+[mpg5]
+active=1
+reverse=0
+filterTime=3
+[mpg6]
+active=1
+reverse=0
+filterTime=3
+[mpg7]
+active=1
+reverse=0
+filterTime=3
diff --git a/src/Bro.Device.GTSCard/GTSCardConfig.cs b/src/Bro.Device.GTSCard/GTSCardConfig.cs
index 49d9c60..e56fd79 100644
--- a/src/Bro.Device.GTSCard/GTSCardConfig.cs
+++ b/src/Bro.Device.GTSCard/GTSCardConfig.cs
@@ -1,247 +1,739 @@
锘縰sing Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Interface;
+using Newtonsoft.Json;
using System;
using System.Collections.Generic;
+using System.Collections.ObjectModel;
using System.ComponentModel;
using System.Configuration;
using System.Drawing.Design;
+using System.Linq;
+using System.Threading;
+using static Bro.Common.Helper.EnumHelper;
namespace Bro.Device.GTSCard
{
- public abstract class GTSCardOperationConfigBase : OperationConfigBase
+
+ [Device("GTSCard", "鍥洪珮鏉垮崱", EnumHelper.DeviceAttributeType.OperationConfig)]
+ public class GTSCardOperationConfig : OperationConfigBase, IComplexDisplay
{
- ///// <summary>
- ///// 闇�瑕佹搷浣滅殑PLC椤�
- ///// </summary>
- //public List<PLCItem> Items { get; set; } = new List<PLCItem>();
+ [Category("鏉垮崱杩愬姩閰嶇疆")]
+ [DisplayName("杩愬姩閰嶇疆闆嗗悎")]
+ [Description("MovingOps锛氳繍鍔ㄩ厤缃泦鍚�")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor<MovingOption>), typeof(UITypeEditor))]
+ public ObservableCollection<MovingOption> MovingOps { get; set; } = new ObservableCollection<MovingOption>();
+
+ public string GetDisplayText()
+ {
+ return MovingOps.Count() == 0 ? "--" : string.Join(";", MovingOps.Select(m => m.GetDisplayText()));
+ }
}
- //public class GTSCardInitialConfigBase : InitialConfigBase, IMonitorConfig
- //{
- // [Category("椹卞姩绫诲瀷")]
- // [Description("椹卞姩绫诲瀷")]
- // [DisplayName("椹卞姩绫诲瀷")]
- // [TypeConverter(typeof(PLCTypeConverter))]
- // public override string DriverType { get; set; }
+ [Device("GTSCard", "鍥洪珮鏉垮崱", EnumHelper.DeviceAttributeType.OperationConfig)]
+ public class GTSCardInitialConfig : InitialConfigBase, IMonitorConfig
+ {
+ [Category("鏉垮崱閰嶇疆")]
+ [DisplayName("鍗″彿")]
+ [Description("CardNum锛氬崱鍙�")]
+ public int CardNum { get; set; }
- // [Category("璀︽姤閰嶇疆")]
- // [Description("璀︽姤閰嶇疆鍒楄〃")]
- // [DisplayName("璀︽姤閰嶇疆")]
- // [TypeConverter(typeof(CollectionCountConvert))]
- // [Editor(typeof(WarningSetsEditor), typeof(UITypeEditor))]
- // public List<WarningSet> WarningSetCollection { get; set; } = new List<WarningSet>();
+ //[Category("鏉垮崱閰嶇疆")]
+ //[Description("IO鍗″彿")]
+ //public int IOCardNum { get; set; }
- // #region IMonitorConfig
- // [Category("鐩戝惉璁剧疆")]
- // [Description("鐩戝惉鎿嶄綔閰嶇疆闆嗗悎")]
- // [DisplayName("鐩戝惉閰嶇疆")]
- // [TypeConverter(typeof(CollectionCountConvert))]
- // [Editor(typeof(ComplexCollectionEditor<MonitorSet>), typeof(UITypeEditor))]
- // public List<IMonitorSet> MonitorSetCollection { get; set; } = new List<IMonitorSet>();
+ [Category("鏉垮崱閰嶇疆")]
+ [DisplayName("鍒濆閰嶇疆鏂囦欢璺緞")]
+ [Description("InitialConfigFilePath锛氬垵濮嬮厤缃枃浠惰矾寰�")]
+ [Editor(typeof(FileDialogEditor), typeof(UITypeEditor))]
+ public string InitialConfigFilePath { get; set; }
- // [Category("鐩戝惉璁剧疆")]
- // [Description("true锛氬惎鍔ㄧ洃鍚� false锛氬叧闂洃鍚�")]
- // [DisplayName("鐩戝惉鍚敤")]
- // public bool IsEnableMonitor { get; set; } = true;
+ [Category("IO鎵弿閰嶇疆")]
+ [DisplayName("鎵弿闂撮殧")]
+ [Description("ScanInterval锛氭壂鎻忛棿闅旓紝浠ユ绉掍负鍗曚綅")]
+ public int ScanInterval { get; set; } = 100;
- // [Category("鐩戝惉璁剧疆")]
- // [Description("鎵弿闂撮殧鏃堕棿锛屽崟浣嶏細ms")]
- // [DisplayName("鎵弿闂撮殧")]
- // public int MonitorInterval { get; set; } = 100;
+ [Category("杞撮厤缃�")]
+ [DisplayName("杞存暟閲�")]
+ [Description("AxisNum锛氳酱鏁伴噺")]
+ public int AxisNum { get; set; } = 2;
- // [Category("鐩戝惉璁剧疆")]
- // [Description("瓒呮椂璁剧疆锛屽崟浣嶏細ms")]
- // [DisplayName("鐩戝惉瓒呮椂")]
- // public int MonitorTimeout { get; set; } = 500;
+ [Category("杞撮厤缃�")]
+ [DisplayName("杞撮厤缃俊鎭泦鍚�")]
+ [Description("AxisSettings锛氳酱閰嶇疆淇℃伅闆嗗悎")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor<AxisSetting>), typeof(UITypeEditor))]
+ public List<AxisSetting> AxisSettings { get; set; } = new List<AxisSetting>();
- // [Category("浜嬩欢鍦板潃璁剧疆")]
- // [Description("浜嬩欢寮�濮嬪湴鍧�锛孭LC鐨勫疄闄呭瘎瀛樺櫒鍦板潃銆傚崄杩涘埗锛屼笉鍖呭惈鍔熻兘鐮併��")]
- // [DisplayName("鐩戝惉寮�濮嬪湴鍧�")]
- // public int EventStartAddress { get; set; } = 8000;
+ [Category("杞撮厤缃�")]
+ [DisplayName("杞撮�熷害姣旂巼")]
+ [Description("AxisVelocityRatio锛氳酱閫熷害姣旂巼")]
+ public double AxisVelocityRatio { get; set; } = 1;
- // [Category("浜嬩欢鍦板潃璁剧疆")]
- // [Description("浜嬩欢鍦板潃闀垮害锛屾渶澶ч暱搴�128")]
- // [DisplayName("鐩戝惉闀垮害")]
- // public int EventLength { get; set; } = 120;
+ [Category("寤舵椂閰嶇疆")]
+ [DisplayName("鍔ㄤ綔瀹屾垚鍚庡欢杩�")]
+ [Description("ActionAfterDelay锛氬姩浣滃畬鎴愬悗寤惰繜")]
+ public int ActionAfterDelay { get; set; } = 100;
- // public List<IMonitorSet> GetAllMonitorSet()
- // {
- // WarningSetCollection.ForEach(m => m.Source = this.Name);
+ public bool IsEnableMonitor { get => throw new NotImplementedException(); set => throw new NotImplementedException(); }
+ public int MonitorInterval { get => throw new NotImplementedException(); set => throw new NotImplementedException(); }
+ public int MonitorTimeout { get => throw new NotImplementedException(); set => throw new NotImplementedException(); }
+ public List<IMonitorSet> MonitorSetCollection { get => throw new NotImplementedException(); set => throw new NotImplementedException(); }
- // MonitorSetCollection.ForEach(m => m.SourceDevice = this.Id);
- // return MonitorSetCollection;
- // }
- // #endregion
-
- // #region IMotion Related
- // [Category("杩愬姩閰嶇疆")]
- // [Description("杩愬姩杞寸姸鎬侀泦鍚�")]
- // [DisplayName("杩愬姩杞寸姸鎬侀泦鍚�")]
- // [TypeConverter(typeof(CollectionCountConvert))]
- // [Editor(typeof(ComplexCollectionEditor<PLCMotionDefinition_State>), typeof(UITypeEditor))]
- // public List<PLCMotionDefinition_State> MotionStateCollection { get; set; } = new List<PLCMotionDefinition_State>();
- // #endregion
- //}
+ public List<IMonitorSet> GetAllMonitorSet()
+ {
+ throw new NotImplementedException();
+ }
+ }
/// <summary>
- /// 鐐逛綅绫诲瀷
+ /// 杞撮厤缃�
/// </summary>
- public enum PosType
+ public class AxisSetting : IComplexDisplay
{
- /// <summary>
- /// 鐩寸嚎鎻掕ˉ
- /// </summary>
- Line = 1,
- /// <summary>
- /// 鍦嗗姬鎻掕ˉ(鍗婂緞)
- /// </summary>
- CircleRadius,
- /// <summary>
- /// 鍦嗗姬鎻掕ˉ(鍦嗗績)
- /// </summary>
- CircleCenter
+ [Category("杞撮厤缃�")]
+ [DisplayName("杞村彿绱㈠紩")]
+ [Description("AxisIndex锛氳酱鍙风储寮�")]
+ public int AxisIndex { get; set; }
+
+ [Category("杞撮厤缃�")]
+ [DisplayName("杞村悕绉�")]
+ [Description("AxisName锛氳酱鍚嶇О")]
+ public string AxisName { get; set; }
+
+ [Category("杞撮厤缃�")]
+ [DisplayName("杞存槸鍚﹀惎鐢�")]
+ [Description("IsAxisEnabled锛氳酱鏄惁鍚敤")]
+ public bool IsAxisEnabled { get; set; } = false;
+
+ [Category("鎹㈢畻閰嶇疆")]
+ [DisplayName("鑴夊啿鏁版崲绠楁瘮渚�")]
+ [Description("鑴夊啿鏁板拰鍏朵粬璁￠噺鍗曚綅鐨勬崲绠楁瘮渚嬶紝渚嬪璁剧疆涓�1000锛岃〃绀�1000涓剦鍐茬瓑浜�1uint")]
+ public int PulseRatio { get; set; } = 1;
+
+ [Category("閫熷害閰嶇疆")]
+ [DisplayName("榛樿閫熷害鍙傛暟")]
+ [Description("VelocityPara锛氶粯璁ら�熷害鍙傛暟")]
+ [TypeConverter(typeof(ComplexObjectConvert))]
+ [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
+ public VelocityPara VelocityPara { get; set; } = new VelocityPara();
+
+ [Category("鍥炲師鐐硅缃�")]
+ [DisplayName("鍥炲師鐐规ā寮�")]
+ [Description("HomeMode锛氬洖鍘熺偣妯″紡銆�0锛氫竴鑸ā寮� 1锛氭瀬闄愰檺浣嶆ā寮� 2锛氬閮ㄨЕ鍙戞ā寮�")]
+ public int HomeMode { get; set; } = 0;
+
+ [Category("鍥炲師鐐硅缃�")]
+ [DisplayName("鍥炲師鐐规柟鍚�")]
+ [Description("IsHomePositive锛氬洖鍘熺偣鏂瑰悜銆� true锛氭鏂瑰悜寮�濮� false锛氳礋鏂瑰悜寮�濮�")]
+ public bool IsHomePositive { get; set; } = true;
+
+ [Category("鍥炲師鐐硅缃�")]
+ [DisplayName("鏄惁鑷姩鍥炲師鐐�")]
+ [Description("IsAutoGoHome锛氭槸鍚﹁嚜鍔ㄥ洖鍘熺偣銆� true锛氭槸 false锛氬惁")]
+ public bool IsAutoGoHome { get; set; } = false;
+
+ [Category("瓒呮椂璁剧疆")]
+ [DisplayName("鍥炲師鐐硅秴鏃�")]
+ [Description("TimeOutHome锛氬洖鍘熺偣瓒呮椂锛屽崟浣嶆绉�")]
+ public int TimeOutHome { get; set; } = 30000;
+
+ [Category("瓒呮椂璁剧疆")]
+ [DisplayName("杩愬姩瓒呮椂")]
+ [Description("TimeOutMove锛氳繍鍔ㄨ秴鏃讹紝鍗曚綅姣")]
+ public int TimeOutMove { get; set; } = 10000;
+
+ [Category("寮�闂幆璁剧疆")]
+ [DisplayName("鏄惁浣跨敤Cmmd鍥為")]
+ [Description("IsUseCmmdPosition锛氭槸鍚︿娇鐢–mmd鍥為")]
+ public bool IsUseCmmdPosition { get; set; } = false;
+
+ [Category("寮�闂幆璁剧疆")]
+ [DisplayName("鏄惁浣跨敤鏉垮崱鍙嶉鍋滄淇″彿")]
+ [Description("IsUseMDNStopSignal锛氭槸鍚︿娇鐢ㄦ澘鍗″弽棣堝仠姝俊鍙�")]
+ public bool IsUseMDNStopSignal { get; set; } = false;
+
+ [Category("寮�闂幆璁剧疆")]
+ [DisplayName("鏄惁鍚敤鎶ヨ")]
+ [Description("IsUseWarning锛氭槸鍚﹀惎鐢ㄦ姤璀�")]
+ public bool IsUseWarning { get; set; } = false;
+
+ [Category("鏆傚仠閰嶇疆")]
+ [DisplayName("鏄惁鍚敤绔嬪嵆鏆傚仠")]
+ [Description("IsImmediatePause锛氭槸鍚﹀惎鐢ㄧ珛鍗虫殏鍋�")]
+ public bool IsImmediatePause { get; set; } = false;
+
+ [Category("鏆傚仠閰嶇疆")]
+ [DisplayName("杞翠綅缃浜庡尯闂村唴鏃堕�傜敤鐨勬殏鍋滄搷浣�")]
+ [Description("ImmediatePauseSections锛氬綋杞翠綅缃浜庡尯闂村唴鏃堕�傜敤鐨勬殏鍋滄搷浣�")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor<Section>), typeof(UITypeEditor))]
+ public List<Section> ImmediatePauseSections { get; set; } = new List<Section>();
+
+ public string GetDisplayText()
+ {
+ return AxisIndex + "-" + AxisName + "-" + (IsAxisEnabled ? "鍚敤" : "绂佺敤");
+ }
}
- public static class GTSCardParameter
+ /// <summary>
+ /// 浣嶇疆瀵硅薄
+ /// </summary>
+ public class Section : IComplexDisplay
{
- #region 杩愬姩鍙傛暟
- public static int Dangliang = 1;
- public static int AxisCount = 2;//杩愬姩杞存暟閲�
- public static short CardNum = Convert.ToInt16(ConfigurationManager.AppSettings["cardNum"]);
- public static short fifo = Convert.ToInt16(ConfigurationManager.AppSettings["fifo"]);
- public static int FlySpeed = Convert.ToInt32(ConfigurationManager.AppSettings["flySpeed"]);
- public static double FlyAcc = Convert.ToDouble(ConfigurationManager.AppSettings["flyAcc"]);
- public static int P2PSpeed = Convert.ToInt32(ConfigurationManager.AppSettings["p2pSpeed"]);
- public static double P2PAcc = Convert.ToDouble(ConfigurationManager.AppSettings["p2pAcc"]);
- public static double P2PDec = Convert.ToDouble(ConfigurationManager.AppSettings["p2pDec"]);
- public static int FreeSpeed = Convert.ToInt32(ConfigurationManager.AppSettings["freeSpeed"]);
- public static int VelEnd = Convert.ToInt32(ConfigurationManager.AppSettings["velEnd"]);//椋炴媿缁撴潫閫熷害
- public static int HomeSpeed = Convert.ToInt32(ConfigurationManager.AppSettings["homeSpeed"]);
- public static int Loading = Convert.ToInt32(ConfigurationManager.AppSettings["loading"]);
- //public const short cardn = 0;//杩愬姩鎺у埗鍣ㄥ崱鍙� 榛樿涓猴細0
- //public const short crdn = 1;//鍧愭爣绯诲彿 鍙栧�艰寖鍥达細[1, 2]
- //public const short fifo = 0;//鎻掕ˉ缂撳瓨鍖哄彿 鍙栧�艰寖鍥达細[0, 1]锛岄粯璁ゅ�间负锛�0
- //public const int flySpeed = 250;//椋炴媿閫熷害
- //public const double flyAcc = 0.5;//椋炴媿鍔犻�熷害
- //public const int gocatorSpeed = 150;//3D妫�娴嬭酱杩愬姩閫熷害
- //public const int p2pSpeed = 250;//P2P閫熷害
- //public const double p2pAcc = 1;//P2P鍔犻�熷害
- //public const double p2pDec = 1;//P2P鍑忛�熷害
- //public const int calibrationSpeed = 10;//鏍囧畾閫熷害
- //public const int calibrationZ = 19336;//鏍囧畾Z杞撮珮搴�
- //public const int barcodeSpeed = 250;//鏉＄爜妫�娴嬭酱杩愬姩閫熷害
- //public const int freeSpeed = 250;//闈炴娴嬫椂杞磋繍鍔ㄩ�熷害
- //public const int velEnd = 0;//椋炴媿缁撴潫閫熷害
- //public const int homeSpeed = 50;//鍥為浂閫熷害
- //public const int loading = 80000;//涓婃枡浣嶇疆
- #endregion
+ [Category("鏆傚仠鍖洪棿")]
+ [DisplayName("璧峰浣嶇疆")]
+ [Description("StartPosition锛氳捣濮嬩綅缃�")]
+ public int StartPosition { get; set; }
- #region IO
- /// <summary>
- /// 杈撳叆IO榛樿鍊�
- /// </summary>
- public const int InDefaultValue = 0xFFDA;
- /// <summary>
- /// 澶圭揣姘旂几
- /// </summary>
- public const short EXO_1 = 100;//澶圭揣姘旂几
- /// <summary>
- /// 鏃ュ厜鐏�
- /// </summary>
- public const short EXO_2 = 101;//鏃ュ厜鐏�
- /// <summary>
- /// 鍏夋簮鍒囨崲
- /// </summary>
- public const short EXO_3 = 102;//鍏夋簮鍒囨崲
- /// <summary>
- /// 绾㈢伅
- /// </summary>
- public const short EXO_4 = 103;//绾㈢伅
- /// <summary>
- /// 榛勭伅
- /// </summary>
- public const short EXO_5 = 104;//榛勭伅
- /// <summary>
- /// 缁跨伅
- /// </summary>
- public const short EXO_6 = 105;//缁跨伅
- /// <summary>
- /// 铚傞福鍣�
- /// </summary>
- public const short EXO_7 = 106;//铚傞福鍣�
- /// <summary>
- /// Gocator X
- /// </summary>
- public const short EXO_8 = 107;//Gocator X
+ [Category("鏆傚仠鍖洪棿")]
+ [DisplayName("缁撴潫浣嶇疆")]
+ [Description("EndPosition锛氱粨鏉熶綅缃�")]
+ public int EndPosition { get; set; }
- /// <summary>
- /// 姝ｉ潰鍏�(宸�)
- /// </summary>
- public const short EXO_9 = 108;//姝ｉ潰鍏�(宸�)
-
- /// <summary>
- /// 姝ｉ潰鍏�(鍚�)
- /// </summary>
- public const short EXO_10 = 109;//姝ｉ潰鍏�(鍚�)
-
- /// <summary>
- /// 姝ｉ潰鍏�(鍙�)
- /// </summary>
- public const short EXO_11 = 110;//姝ｉ潰鍏�(鍙�)
-
- /// <summary>
- /// 姝ｉ潰鍏�(鍓�)
- /// </summary>
- public const short EXO_12 = 111;//姝ｉ潰鍏�(鍓�)
-
- /// <summary>
- /// Gocator Y
- /// </summary>
- public const short EXO_16 = 115;//Gocator Y
-
- /// <summary>
- /// 杈撳嚭IO榛樿鍊�
- /// </summary>
- public const int OutDefaultValue = 0xFFF;
- /// <summary>
- /// 宸﹀惎鍔�
- /// </summary>
- public const short EXI0 = 0;//宸﹁捣鍔�
- /// <summary>
- /// 鍙冲惎鍔�
- /// </summary>
- public const short EXI1 = 1;//鍙宠捣鍔�
- /// <summary>
- /// 鍋滄
- /// </summary>
- public const short EXI2 = 2;//鍋滄
- /// <summary>
- /// 澶嶄綅
- /// </summary>
- public const short EXI3 = 3;//澶嶄綅
- /// <summary>
- /// 鎬ュ仠
- /// </summary>
- public const short EXI4 = 4;//鎬ュ仠
- /// <summary>
- /// 闂ㄥ紑鍏�
- /// </summary>
- public const short EXI5 = 5;//闂ㄥ紑鍏�
- /// <summary>
- /// 瀹夊叏鍏夊箷
- /// </summary>
- public const short EXI6 = 6;//瀹夊叏鍏夊箷
-
- public const short EXI7 = 7;//
- /// <summary>
- /// 澶圭揣姘旂几鍘熶綅
- /// </summary>
- public const short EXI8 = 8;//澶圭揣姘旂几鍘熶綅
- /// <summary>
- /// 澶圭揣姘旂几鍒颁綅
- /// </summary>
- public const short EXI9 = 9;//澶圭揣姘旂几鍒颁綅
- #endregion
+ public string GetDisplayText()
+ {
+ return $"{StartPosition}--{EndPosition}";
+ }
}
+
+ /// <summary>
+ /// 閫熷害鍙傛暟瀵硅薄
+ /// </summary>
+ public class VelocityPara
+ {
+ [Category("閫熷害閰嶇疆")]
+ [DisplayName("閫熷害")]
+ [Description("Velocity锛氶�熷害,涓�0鏃惰〃绀轰笉淇敼褰撳墠璁剧疆")]
+ public double Velocity { get; set; } = 0;
+
+ [Category("閫熷害閰嶇疆")]
+ [DisplayName("鍔犻�熷害")]
+ [Description("Acc锛氬姞閫熷害,涓�0鏃惰〃绀轰笉淇敼褰撳墠璁剧疆")]
+ public double Acc { get; set; } = 0;
+
+ [Category("閫熷害閰嶇疆")]
+ [DisplayName("鍑忛�熷害")]
+ [Description("鍑忛�熷害,涓�0鏃惰〃绀轰笉淇敼褰撳墠璁剧疆銆傚洖鍘熺偣妯″紡鏃惰缃负鏇茬嚎鍙傛暟")]
+ public double Dec { get; set; } = 0;
+ }
+
+ /// <summary>
+ /// 鍥炲師鐐瑰弬鏁板璞�
+ /// </summary>
+ public class GoHomePara
+ {
+ [Category("鍥炲師鐐瑰弬鏁�")]
+ [DisplayName("鍥炲師鐐规柟寮�")]
+ [Description("HomeMode锛氬洖鍘熺偣鏂瑰紡 锛圚OME_MODE_LIMIT = 10; HOME_MODE_LIMIT_HOME = 11; HOME_MODE_LIMIT_INDEX = 12; HOME_MODE_LIMIT_HOME_INDEX = 13;HOME_MODE_HOME = 20;HOME_MODE_HOME_INDEX = 22;HOME_MODE_INDEX = 30;")]
+ public short HomeMode { get; set; } = 11;
+
+ [Category("鍥炲師鐐瑰弬鏁�")]
+ [DisplayName("鍥炲師鐐规柟鍚�")]
+ [Description("HomeDir锛�1 姝ｅ悜锛�-1 璐熷悜")]
+ public short HomeDir { get; set; } = 1;
+
+ [Category("鍥炲師鐐瑰弬鏁�")]
+ [DisplayName("鍥炲師鐐规柟鍚�")]
+ [Description("HomeDir锛�1 姝ｅ悜锛�-1 璐熷悜")]
+ public short Edge { get; set; } = 0;
+
+ [Category("鍥炲師鐐瑰弬鏁�")]
+ [DisplayName("鍥炲師鐐规渶浣庨�熷害")]
+ [Description("LowVelocity锛氶�熷害,涓�0鏃惰〃绀轰笉淇敼褰撳墠璁剧疆")]
+ public double LowVelocity { get; set; } = 50;
+
+
+ [Category("鍥炲師鐐瑰弬鏁�")]
+ [DisplayName("鍥炲師鐐规渶楂橀�熷害")]
+ [Description("HighVelocity锛氶�熷害,涓�0鏃惰〃绀轰笉淇敼褰撳墠璁剧疆")]
+ public double HighVelocity { get; set; } = 50;
+
+ [Category("鍥炲師鐐瑰弬鏁�")]
+ [DisplayName("鎼滄悳璺濈")]
+ [Description("SearchHomeDistance锛氭悳鎼滆窛绂�")]
+ public int SearchHomeDistance { get; set; } = 9999999;
+
+ [Category("鍥炲師鐐瑰弬鏁�")]
+ [DisplayName("鍋忕Щ璺濈")]
+ [Description("HomeOffset锛氬亸绉昏窛绂�")]
+ public int HomeOffset { get; set; } = 0;
+
+ [Category("鍥炲師鐐瑰弬鏁�")]
+ [DisplayName("璺宠繃姝ラ暱")]
+ [Description("EscapeStep锛氳烦杩囨闀�")]
+ public int EscapeStep { get; set; } = 1000;
+
+ }
+
+ /// <summary>
+ /// 杩愬姩瀵硅薄
+ /// </summary>
+ public class MovingOption : INotifyPropertyChanged, IComplexDisplay
+ {
+ private int axisIndex = 0;
+ [Category("杩愬姩閰嶇疆")]
+ [DisplayName("杩愬姩杞寸储寮�")]
+ [Description("AxisIndex锛氳繍鍔ㄨ酱绱㈠紩")]
+ [TypeConverter(typeof(AxisIndexConvert))]
+ public int AxisIndex
+ {
+ get => axisIndex;
+ set
+ {
+ if (axisIndex != value)
+ {
+ axisIndex = value;
+ PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("AxisIndex"));
+ }
+ axisIndex = value;
+ }
+ }
+
+ private MotorMoveMode moveMode = MotorMoveMode.Normal;
+ [Category("杩愬姩閰嶇疆")]
+ [DisplayName("杩愬姩妯″紡")]
+ [Description("MoveMode锛氳繍鍔ㄦā寮�")]
+ public MotorMoveMode MoveMode
+ {
+ get => moveMode;
+ set
+ {
+ if (moveMode != value)
+ {
+ moveMode = value;
+ PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("MoveMode"));
+ }
+
+ moveMode = value;
+ }
+ }
+
+ private bool isAbsolute = true;
+ [Category("杩愬姩閰嶇疆")]
+ [DisplayName("鏄惁缁濆杩愬姩")]
+ [Description("IsAbsolute锛氭槸鍚︾粷瀵硅繍鍔�")]
+ public bool IsAbsolute
+ {
+ get => isAbsolute;
+ set
+ {
+ if (isAbsolute != value)
+ {
+ isAbsolute = value;
+ PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("IsAbsolute"));
+ }
+
+ isAbsolute = value;
+ }
+ }
+
+ private int destination = 0;
+ [Category("杩愬姩閰嶇疆")]
+ [DisplayName("鐩殑鍦�")]
+ [Description("Destination锛氱洰鐨勫湴")]
+ public int Destination
+ {
+ get => destination;
+ set
+ {
+ if (destination != value)
+ {
+ destination = value;
+ PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("Destination"));
+ }
+
+ destination = value;
+ }
+ }
+
+ private VelocityPara velocityPara = new VelocityPara();
+ [Category("杩愬姩閰嶇疆")]
+ [DisplayName("閫熷害鍙傛暟")]
+ [Description("VelocityPara锛氶�熷害鍙傛暟")]
+ [TypeConverter(typeof(ComplexObjectConvert))]
+ [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
+ public VelocityPara VelocityPara
+ {
+ get => velocityPara;
+ set
+ {
+ velocityPara = value;
+ PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("VelocityPara"));
+ }
+ }
+
+ private GoHomePara goHomePara = new GoHomePara();
+ [Category("杩愬姩閰嶇疆")]
+ [DisplayName("鍥炲師鐐瑰弬鏁�")]
+ [Description("GoHomePara锛氶�熷害鍙傛暟")]
+ [TypeConverter(typeof(ComplexObjectConvert))]
+ [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
+ public GoHomePara GoHomePara
+ {
+ get => goHomePara;
+ set
+ {
+ goHomePara = value;
+ PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("GoHomePara"));
+ }
+ }
+
+ internal List<AxisSetting> _axisSettingList = new List<AxisSetting>();
+ public void SetAxisSetting(List<AxisSetting> settings)
+ {
+ if (settings != null)
+ _axisSettingList = settings;
+ }
+
+ public string GetDisplayText()
+ {
+ string axisName = AxisIndex.ToString();
+ var axisSet = _axisSettingList.FirstOrDefault(a => a.AxisIndex == AxisIndex);
+ if (axisSet != null)
+ {
+ axisName += ("-" + axisSet.AxisName);
+ }
+ return axisName + "," + MoveMode.ToString() + "," + (IsAbsolute ? "Abs" : "Rel") + "," + Destination;
+ }
+ public event PropertyChangedEventHandler PropertyChanged;
+ }
+
+ public class AxisIndexConvert : TypeConverter
+ {
+ Dictionary<int, string> _indexNameDict = new Dictionary<int, string>();
+
+ public override bool GetStandardValuesSupported(ITypeDescriptorContext context)
+ {
+ return true;
+ }
+
+ public override StandardValuesCollection GetStandardValues(ITypeDescriptorContext context)
+ {
+ MovingOption mo = context.Instance as MovingOption;
+
+ _indexNameDict = mo._axisSettingList.ToDictionary(a => a.AxisIndex, a => a.AxisIndex + "-" + a.AxisName);
+
+ return new StandardValuesCollection(_indexNameDict.Keys);
+ }
+
+ public override bool CanConvertFrom(ITypeDescriptorContext context, Type sourceType)
+ {
+ if (sourceType == typeof(string))
+ {
+ return true;
+ }
+ return base.CanConvertFrom(context, sourceType);
+ }
+
+ public override object ConvertFrom(ITypeDescriptorContext context, System.Globalization.CultureInfo culture, object v)
+ {
+ if (v is string)
+ {
+ foreach (var indexName in _indexNameDict)
+ {
+ if (indexName.Value == v.ToString())
+ {
+ return indexName.Key;
+ }
+ }
+ return Convert.ToInt32(v);
+ }
+ return base.ConvertFrom(context, culture, v);
+ }
+
+ public override object ConvertTo(ITypeDescriptorContext context, System.Globalization.CultureInfo culture, object v, Type destinationType)
+ {
+ if (destinationType == typeof(string))
+ {
+ if (_indexNameDict.ContainsKey(Convert.ToInt32(v)))
+ {
+ return _indexNameDict[Convert.ToInt32(v)];
+ }
+ }
+ return base.ConvertTo(context, culture, v, destinationType);
+ }
+
+ public override bool GetStandardValuesExclusive(ITypeDescriptorContext context)
+ {
+ return false;
+ }
+ }
+
+ public class AxisConflictSet : IComplexDisplay
+ {
+ [Category("1.杞村啿绐佹潯浠�")]
+ [Description("杞村啿绐佹潯浠讹紝婊¤冻鍏ㄩ儴鏉′欢鏃惰酱杩愬姩闇�瑕佹鏌ュ啿绐�")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor<AxisLimit>), typeof(UITypeEditor))]
+ public List<AxisLimit> AxisOptions { get; set; } = new List<AxisLimit>();
+
+ [Category("1.杞村啿绐佹潯浠�")]
+ [Description("IO鍐茬獊鏉′欢锛屾弧瓒冲叏閮ㄦ潯浠舵椂杞磋繍鍔ㄩ渶瑕佹鏌ュ啿绐�")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor<IOLimit>), typeof(UITypeEditor))]
+ public List<IOLimit> IOOptions { get; set; } = new List<IOLimit>();
+
+ [Category("2.杞村啿绐侀檺鍒�")]
+ [Description("杞村啿绐侀檺鍒讹紝杞磋繍鍔ㄥ厑璁稿尯闂�")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor<AxisLimit>), typeof(UITypeEditor))]
+ public List<AxisLimit> AxisLimits { get; set; } = new List<AxisLimit>();
+
+ [Category("2.杞村啿绐侀檺鍒�")]
+ [Description("IO鍏佽鏉′欢锛屽厑璁歌緭鍑虹殑IO")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor<IOLimit>), typeof(UITypeEditor))]
+ public List<IOLimit> IOOutputs { get; set; } = new List<IOLimit>();
+
+ [Category("3.杞村啿绐佸惎鐢�")]
+ [Description("true锛氬惎鐢ㄨ酱鍐茬獊闄愬埗 false锛氫笉鍚敤杞村啿绐侀檺鍒�")]
+ public bool IsEnabled { get; set; } = true;
+
+ public string GetDisplayText()
+ {
+ string optionStr = "Options:" + String.Join(";", AxisOptions.Select(a => a.GetDisplayText()));
+ string limitStr = "Limits:" + String.Join(";", AxisLimits.Select(a => a.GetDisplayText()));
+
+ return optionStr + "|" + limitStr;
+ }
+ }
+
+ public class AxisLimit : IComplexDisplay
+ {
+ [Category("1.杞村彿")]
+ [Description("1.杞村彿")]
+ public int AxisIndex { get; set; }
+
+ [Category("2.杞存渶灏忛檺鍒�")]
+ [Description("2.杞存渶灏忛檺鍒�")]
+ public int LimitMin { get; set; }
+
+ [Category("3.杞存渶澶ч檺鍒�")]
+ [Description("3.杞存渶澶ч檺鍒�")]
+ public int LimitMax { get; set; }
+
+ private int currentPosition = 0;
+ [Browsable(false)]
+ [JsonIgnore]
+ public int CurrentPosition
+ {
+ get => currentPosition;
+ set
+ {
+ if (currentPosition != value)
+ {
+ if (value >= LimitMin && value <= LimitMax)
+ {
+ IsInLimit = true;
+ }
+ else
+ {
+ IsInLimit = false;
+ }
+ }
+
+ currentPosition = value;
+ }
+ }
+
+ [Browsable(false)]
+ [JsonIgnore]
+ public bool IsInLimit { get; set; }
+
+ public string GetDisplayText()
+ {
+ return String.Format("Index:{0},{1}->{2}", AxisIndex, LimitMin, LimitMax);
+ }
+ }
+
+ public class IOLimit : IComplexDisplay
+ {
+ [Category("1.IO闄愬埗")]
+ [Description("IO绱㈠紩")]
+ public int IOIndex { get; set; }
+
+ [Category("1.IO闄愬埗")]
+ [Description("IO闄愬埗鍊笺�傝緭鍏ュ垽鏂椂璇ュ�间綔涓哄惎鐢ㄥ垽鏂�硷紝杈撳嚭鍒ゆ柇鏃惰鍊间綔涓哄厑璁歌緭鍑哄��")]
+ public bool IOSignal { get; set; }
+
+ public string GetDisplayText()
+ {
+ return IOIndex + "--" + IOSignal.ToString();
+ }
+ }
+
+ public class AxisMovingStay
+ {
+ public int Position { get; set; }
+
+ public int Velocity { get; set; }
+
+ public AutoResetEvent MoveHandle { get; set; } = new AutoResetEvent(false);
+
+ public AutoResetEvent MoveSendHandle { get; set; } = new AutoResetEvent(false);
+ }
+
+ ///// <summary>
+ ///// 鐐逛綅绫诲瀷
+ ///// </summary>
+ //public enum PosType
+ //{
+ // /// <summary>
+ // /// 鐩寸嚎鎻掕ˉ
+ // /// </summary>
+ // Line = 1,
+ // /// <summary>
+ // /// 鍦嗗姬鎻掕ˉ(鍗婂緞)
+ // /// </summary>
+ // CircleRadius,
+ // /// <summary>
+ // /// 鍦嗗姬鎻掕ˉ(鍦嗗績)
+ // /// </summary>
+ // CircleCenter
+ //}
+
+
+ //public static class GTSCardParameter
+ //{
+ // #region 杩愬姩鍙傛暟
+ // public static int Dangliang = 1;
+ // public static int AxisCount = 2;//杩愬姩杞存暟閲�
+ // public static short CardNum = Convert.ToInt16(ConfigurationManager.AppSettings["cardNum"]);
+ // public static short fifo = Convert.ToInt16(ConfigurationManager.AppSettings["fifo"]);
+ // public static int FlySpeed = Convert.ToInt32(ConfigurationManager.AppSettings["flySpeed"]);
+ // public static double FlyAcc = Convert.ToDouble(ConfigurationManager.AppSettings["flyAcc"]);
+ // public static int P2PSpeed = Convert.ToInt32(ConfigurationManager.AppSettings["p2pSpeed"]);
+ // public static double P2PAcc = Convert.ToDouble(ConfigurationManager.AppSettings["p2pAcc"]);
+ // public static double P2PDec = Convert.ToDouble(ConfigurationManager.AppSettings["p2pDec"]);
+ // public static int FreeSpeed = Convert.ToInt32(ConfigurationManager.AppSettings["freeSpeed"]);
+ // public static int VelEnd = Convert.ToInt32(ConfigurationManager.AppSettings["velEnd"]);//椋炴媿缁撴潫閫熷害
+ // public static int HomeSpeed = Convert.ToInt32(ConfigurationManager.AppSettings["homeSpeed"]);
+ // public static int Loading = Convert.ToInt32(ConfigurationManager.AppSettings["loading"]);
+ // //public const short cardn = 0;//杩愬姩鎺у埗鍣ㄥ崱鍙� 榛樿涓猴細0
+ // //public const short crdn = 1;//鍧愭爣绯诲彿 鍙栧�艰寖鍥达細[1, 2]
+ // //public const short fifo = 0;//鎻掕ˉ缂撳瓨鍖哄彿 鍙栧�艰寖鍥达細[0, 1]锛岄粯璁ゅ�间负锛�0
+ // //public const int flySpeed = 250;//椋炴媿閫熷害
+ // //public const double flyAcc = 0.5;//椋炴媿鍔犻�熷害
+ // //public const int gocatorSpeed = 150;//3D妫�娴嬭酱杩愬姩閫熷害
+ // //public const int p2pSpeed = 250;//P2P閫熷害
+ // //public const double p2pAcc = 1;//P2P鍔犻�熷害
+ // //public const double p2pDec = 1;//P2P鍑忛�熷害
+ // //public const int calibrationSpeed = 10;//鏍囧畾閫熷害
+ // //public const int calibrationZ = 19336;//鏍囧畾Z杞撮珮搴�
+ // //public const int barcodeSpeed = 250;//鏉＄爜妫�娴嬭酱杩愬姩閫熷害
+ // //public const int freeSpeed = 250;//闈炴娴嬫椂杞磋繍鍔ㄩ�熷害
+ // //public const int velEnd = 0;//椋炴媿缁撴潫閫熷害
+ // //public const int homeSpeed = 50;//鍥為浂閫熷害
+ // //public const int loading = 80000;//涓婃枡浣嶇疆
+ // #endregion
+
+ // #region IO
+ // /// <summary>
+ // /// 杈撳叆IO榛樿鍊�
+ // /// </summary>
+ // public const int InDefaultValue = 0xFFDA;
+ // /// <summary>
+ // /// 澶圭揣姘旂几
+ // /// </summary>
+ // public const short EXO_1 = 100;//澶圭揣姘旂几
+ // /// <summary>
+ // /// 鏃ュ厜鐏�
+ // /// </summary>
+ // public const short EXO_2 = 101;//鏃ュ厜鐏�
+ // /// <summary>
+ // /// 鍏夋簮鍒囨崲
+ // /// </summary>
+ // public const short EXO_3 = 102;//鍏夋簮鍒囨崲
+ // /// <summary>
+ // /// 绾㈢伅
+ // /// </summary>
+ // public const short EXO_4 = 103;//绾㈢伅
+ // /// <summary>
+ // /// 榛勭伅
+ // /// </summary>
+ // public const short EXO_5 = 104;//榛勭伅
+ // /// <summary>
+ // /// 缁跨伅
+ // /// </summary>
+ // public const short EXO_6 = 105;//缁跨伅
+ // /// <summary>
+ // /// 铚傞福鍣�
+ // /// </summary>
+ // public const short EXO_7 = 106;//铚傞福鍣�
+ // /// <summary>
+ // /// Gocator X
+ // /// </summary>
+ // public const short EXO_8 = 107;//Gocator X
+
+ // /// <summary>
+ // /// 姝ｉ潰鍏�(宸�)
+ // /// </summary>
+ // public const short EXO_9 = 108;//姝ｉ潰鍏�(宸�)
+
+ // /// <summary>
+ // /// 姝ｉ潰鍏�(鍚�)
+ // /// </summary>
+ // public const short EXO_10 = 109;//姝ｉ潰鍏�(鍚�)
+
+ // /// <summary>
+ // /// 姝ｉ潰鍏�(鍙�)
+ // /// </summary>
+ // public const short EXO_11 = 110;//姝ｉ潰鍏�(鍙�)
+
+ // /// <summary>
+ // /// 姝ｉ潰鍏�(鍓�)
+ // /// </summary>
+ // public const short EXO_12 = 111;//姝ｉ潰鍏�(鍓�)
+
+ // /// <summary>
+ // /// Gocator Y
+ // /// </summary>
+ // public const short EXO_16 = 115;//Gocator Y
+
+ // /// <summary>
+ // /// 杈撳嚭IO榛樿鍊�
+ // /// </summary>
+ // public const int OutDefaultValue = 0xFFF;
+ // /// <summary>
+ // /// 宸﹀惎鍔�
+ // /// </summary>
+ // public const short EXI0 = 0;//宸﹁捣鍔�
+ // /// <summary>
+ // /// 鍙冲惎鍔�
+ // /// </summary>
+ // public const short EXI1 = 1;//鍙宠捣鍔�
+ // /// <summary>
+ // /// 鍋滄
+ // /// </summary>
+ // public const short EXI2 = 2;//鍋滄
+ // /// <summary>
+ // /// 澶嶄綅
+ // /// </summary>
+ // public const short EXI3 = 3;//澶嶄綅
+ // /// <summary>
+ // /// 鎬ュ仠
+ // /// </summary>
+ // public const short EXI4 = 4;//鎬ュ仠
+ // /// <summary>
+ // /// 闂ㄥ紑鍏�
+ // /// </summary>
+ // public const short EXI5 = 5;//闂ㄥ紑鍏�
+ // /// <summary>
+ // /// 瀹夊叏鍏夊箷
+ // /// </summary>
+ // public const short EXI6 = 6;//瀹夊叏鍏夊箷
+
+ // public const short EXI7 = 7;//
+ // /// <summary>
+ // /// 澶圭揣姘旂几鍘熶綅
+ // /// </summary>
+ // public const short EXI8 = 8;//澶圭揣姘旂几鍘熶綅
+ // /// <summary>
+ // /// 澶圭揣姘旂几鍒颁綅
+ // /// </summary>
+ // public const short EXI9 = 9;//澶圭揣姘旂几鍒颁綅
+ // #endregion
+ //}
}
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index a51429e..d4eea2e 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -1,27 +1,59 @@
锘縰sing Bro.Common.Base;
+using Bro.Common.Helper;
using Bro.Common.Interface;
using Bro.Common.Model;
using System;
+using System.Collections.Concurrent;
using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Drawing;
using System.Linq;
using System.Text;
+using System.Threading;
using System.Threading.Tasks;
+using static Bro.Common.Helper.EnumHelper;
namespace Bro.Device.GTSCard
{
- public class GTSCardDriver : DeviceBase,IMonitor, IMotion
+ [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;
+
+ public GTSCardInitialConfig IConfig
+ {
+ get
+ {
+ return InitialConfig as GTSCardInitialConfig;
+ }
+ }
+
+ static object moveLock = new object();
+ /// <summary>
+ /// 鏄惁澶嶄綅鏍囧織
+ /// </summary>
+ bool _isResetting = false;
+
+ public void SetResetFlag(bool isReset)
+ {
+ _isResetting = isReset;
+ }
public List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
{
throw new NotImplementedException();
}
+ #region DeviceBase
+
protected override void Init()
{
- throw new NotImplementedException();
+ InitialMotionCard();
}
protected override void Pause()
@@ -43,43 +75,448 @@
{
throw new NotImplementedException();
}
+ #endregion
+
+ #region GTSCard
/// <summary>
- /// 鐐逛綅鍒扮偣浣� 杩愬姩
+ /// Load Motion Card parameter from file
/// </summary>
- /// <param name="cardNum">鍗″彿</param>
- /// <param name="axisNum">杞村彿</param>
- /// <param name="prfPosition">瑙勫垝浣嶇疆,鍗曚綅姣背</param>
- /// <param name="prfVelocity">瑙勫垝閫熷害,鍗曚綅绫虫瘡绉�</param>
- public void P2P(short cardNum, short axisNum, int prfPosition, int prfVelocity)
+ /// <param name="fileName">Invalid Parameter</param>
+ /// <returns></returns>
+ public void InitialMotionCard()
{
- GTSCardAPI.TTrapPrm trapprm;
- GTSCardAPI.GT_PrfTrap(cardNum, axisNum);
- GTSCardAPI.GT_GetTrapPrm(cardNum, axisNum, out trapprm);
- trapprm.acc = GTSCardParameter.P2PAcc;
- trapprm.dec = GTSCardParameter.P2PDec;
- trapprm.smoothTime = 1;
- GTSCardAPI.GT_SetTrapPrm(cardNum, axisNum, ref trapprm);
- GTSCardAPI.GT_SetPos(cardNum, axisNum, prfPosition * GTSCardParameter.Dangliang);
- GTSCardAPI.GT_SetVel(cardNum, axisNum, prfVelocity * GTSCardParameter.Dangliang);
- GTSCardAPI.GT_Update(cardNum, 1 << (axisNum - 1));
+ var res = GTSCardAPI.GT_Open((short)IConfig.CardNum, 0, 1); //鎵撳紑杩愬姩鎺у埗鍣ㄣ�傚弬鏁板繀椤讳负锛�0,1锛夛紝涓嶈兘淇敼銆�
+ res += GTSCardAPI.GT_LoadConfig((short)IConfig.CardNum, IConfig.InitialConfigFilePath);
+ res += GTSCardAPI.GT_ClrSts(0, 1, 8);
+ 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);
+ }
}
/// <summary>
- /// Jog杩愬姩
+ /// 鐐逛綅鍒扮偣浣嶈繍鍔�
/// </summary>
- /// <param name="cardNum"></param>
- /// <param name="axisNum"></param>
- /// <param name="velocity">瑙勫垝閫熷害锛屽崟浣嶇背姣忕</param>
- public void Jog(short cardNum, short axisNum, double velocity)
+ /// <param name="item">杩愬姩瀵硅薄</param>
+ /// <returns>杩愬姩鎺у埗+鍋滄鍒ゆ柇</returns>
+ public bool MoveToPoint(IOperationConfig opConfig)
+ {
+ 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)
+ {
+ //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
+ /// </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;
+ 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;
+ trapprm.acc = optionPara.VelocityPara.Acc != 0 ? optionPara.VelocityPara.Acc : 1;
+ trapprm.dec = optionPara.VelocityPara.Dec != 0 ? optionPara.VelocityPara.Dec : 1;
+
+ resultCode.Add(GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, (short)optionPara.AxisIndex, ref trapprm));
+ resultCode.Add(GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)optionPara.AxisIndex, optionPara.VelocityPara.Velocity * IConfig.AxisVelocityRatio));
+
+ 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));
+ }
+ return resultOK;
+ }
+
+ /// <summary>
+ /// 鍗曚釜杞� 鐐逛綅鍒扮偣浣嶈繍鍔�
+ /// </summary>
+ /// <param name="optionPara">杩愬姩鍙傛暟瀵硅薄</param>
+ public async Task<bool> SingleAxisMoving(MovingOption optionPara)
+ {
+ return await Task.Run(() =>
+ {
+ bool isSuccessAndStop = false;
+ if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
+ {
+ 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:
+ {
+ 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;
+ }
+ //璁剧疆 杩愬姩鍙傛暟
+ var isSuccess = SetAxisParam(optionPara);
+ if (isSuccess)
+ {
+ if (optionPara.IsAbsolute)
+ {
+ isSuccessAndStop = MoveAbs(optionPara);
+ }
+ else
+ {
+ isSuccessAndStop = MoveRel(optionPara);
+ }
+ }
+ }
+ break;
+ case MotorMoveMode.FindOri:
+ {
+ isSuccessAndStop = GoHome(optionPara);
+ }
+ break;
+ }
+ _position += $"{GetPosition(optionPara.AxisIndex)},";
+ _position += $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}";
+ LogAsync(DateTime.Now, "", _position);
+ }
+ return isSuccessAndStop;
+ });
+ }
+
+ /// <summary>
+ /// 鑾峰彇瑙勫垝浣嶇疆锛堣鍘荤殑浣嶇疆锛�
+ /// </summary>
+ /// <param name="axisNum">Axis number</param>
+ /// <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)
+ {
+ 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>
+ /// 鑾峰彇鐩墠褰撳墠浣嶇疆
+ /// </summary>
+ /// <param name="axisNum">Axis number</param>
+ /// <returns></returns>
+ public double GetPosition(int axisNum)
+ {
+ lock (moveLock)
+ {
+ double position = 0;
+ int pPos = 0;
+ var ret = GTSCardAPI.GT_GetPos((short)IConfig.CardNum, (short)axisNum, out pPos);
+ 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);
+ }
+ position = pPos / IConfig.AxisVelocityRatio;
+ return position;
+ }
+ }
+
+
+ /// <summary>
+ /// Set Single Axis Do Jog Move
+ /// </summary>
+ /// <param name="axisNum">AxisNo</param>
+ /// <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)
{
GTSCardAPI.TJogPrm jogprm = new GTSCardAPI.TJogPrm();
- short rtn = GTSCardAPI.GT_PrfJog(cardNum, axisNum);
+ short rtn = GTSCardAPI.GT_PrfJog((short)IConfig.CardNum, (short)axisNum);
jogprm.acc = 1;
jogprm.dec = 1;
- GTSCardAPI.GT_SetJogPrm(cardNum, axisNum, ref jogprm);//璁剧疆jog杩愬姩鍙傛暟
- GTSCardAPI.GT_SetVel(cardNum, axisNum, velocity);//璁剧疆鐩爣閫熷害
- GTSCardAPI.GT_Update(cardNum, 1 << (axisNum - 1));//鏇存柊杞磋繍鍔�
+ 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)
+ {
+ return false;
+ }
+ return true;
+ }
+
+ /// <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>
+ /// 鐩稿浣嶇疆杩愬姩
+ /// </summary>
+ /// <param name="axisNum">AxisNo</param>
+ /// <param name="nDistance">run distance</param>
+ /// <returns></returns>
+ public bool MoveRel(MovingOption optionPara)
+ {
+ try
+ {
+ 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");
+ }
+
+ int repeatTime = 30;
+ while (CurrentState != EnumHelper.DeviceState.DSOpen && repeatTime > 0)
+ {
+ Thread.Sleep(10);
+ repeatTime--;
+ }
+
+ if (CurrentState == EnumHelper.DeviceState.DSExcept)
+ {
+ LogAsync(DateTime.Now, "鏉垮崱寮傚父鐘舵��", "杞�" + optionPara.AxisIndex + "璇曞浘寮傚父鐘舵�佽繍鍔�");
+ return false;
+ }
+
+ 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);
+ }
+
+ LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "寮�濮嬭繍鍔�", "鐩爣鍧愭爣锛�" + optionPara.Destination);
+ short ret = 0;
+ repeatTime = 1000;
+ int currentPosition = (int)GetPosition(optionPara.AxisIndex);
+ int dPosition = optionPara.Destination + currentPosition;
+ do
+ {
+ 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
+
+ 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);
+
+ //杩愬姩寮�濮嬪悗 妫�鏌ヨ繍鍔ㄦ槸鍚﹀仠姝�
+ bool isStop = false;
+ repeatTime = 1000;
+ do
+ {
+ isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
+ Thread.Sleep(50);
+ repeatTime--;
+ } while (!isStop && repeatTime > 0);
+
+ return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
+ }
+ catch (Exception ex)
+ {
+ AllMoveStop(true);
+ OnExceptionRaised?.Invoke(ex);
+ return false;
+ }
+ }
+
+ /// <summary>
+ /// 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)
+ {
+ try
+ {
+ 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");
+ }
+ int repeatTime = 30;
+ while (CurrentState != EnumHelper.DeviceState.DSOpen && repeatTime > 0)
+ {
+ Thread.Sleep(10);
+ repeatTime--;
+ }
+ if (CurrentState == EnumHelper.DeviceState.DSExcept)
+ {
+ LogAsync(DateTime.Now, "鏉垮崱寮傚父鐘舵��", "杞�" + optionPara.AxisIndex + "璇曞浘寮傚父鐘舵�佽繍鍔�");
+ return false;
+ }
+
+ 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);
+ }
+ LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "寮�濮嬭繍鍔�", "鐩爣鍧愭爣锛�" + optionPara.Destination);
+ short ret = 0;
+ repeatTime = 1000;
+ do
+ {
+ 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
+
+ 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);
+
+ bool isStop = false;
+ repeatTime = 1000;
+ do
+ {
+ isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
+ Thread.Sleep(50);
+ repeatTime--;
+ } while (!isStop && repeatTime > 0);
+
+ return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
+ }
+ catch (Exception ex)
+ {
+ AllMoveStop(true);
+ OnExceptionRaised?.Invoke(ex);
+ return false;
+ }
+ }
+
+ /// <summary>
+ /// 杩愬姩鍋滄
+ /// </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)
+ {
+ 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", "");
+ }
+ }
+
+ /// <summary>
+ /// 鎵�鏈夊紑鍚殑杞村叧闂�
+ /// </summary>
+ /// <param name="emergencyStop"></param>
+ public void AllMoveStop(bool emergencyStop = false)
+ {
+ int option = emergencyStop ? 1 : 0;
+
+ IConfig.AxisSettings.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>
+ {
+ MoveStop(axisNum.AxisIndex, option);
+ });
+ }
+
+ /// <summary>
+ /// 鍥炲師鐐�
+ /// </summary>
+ /// <param name="movingOption">鍗″彿</param>
+ /// <param name="axisn">杞村彿</param>
+ /// <param name="homests">杞村洖鍘熺偣鐘舵��</param>
+ public bool GoHome(MovingOption movingOption)
+ {
+ try
+ {
+ GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);
+ GTSCardAPI.THomePrm thomeprm;
+ GTSCardAPI.THomeStatus homests;
+ short 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;
+ thomeprm.velHigh = movingOption.GoHomePara.HighVelocity;
+ 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.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
+
+ bool isStop = false;
+ int repeatTime = 1000;
+ do
+ {
+ Thread.Sleep(10);
+ GTSCardAPI.GT_GetHomeStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out homests);
+
+ isStop = homests.run == 0;
+ if (isStop && homests.error == 0)
+ {
+ Thread.Sleep(200);
+ GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);
+ }
+ repeatTime--;
+ } while (!isStop && repeatTime > 0);
+
+ return isStop;
+ }
+ catch (Exception ex)
+ {
+ AllMoveStop(true);
+ OnExceptionRaised?.Invoke(ex);
+ return false;
+ }
}
/// <summary>
@@ -99,36 +536,20 @@
/// <summary>
/// 杈撳嚭
/// </summary>
- /// <param name="cardNumo">鍗″彿</param>
+ /// <param name="cardNum">鍗″彿</param>
/// <param name="index">杈撳嚭鍙�,杩斿洖1-16</param>
- /// <param name="value">0琛ㄧず杈撳嚭锛�1琛ㄧず鍏抽棴</param>
- public void WriteOut(short cardNumo, short index, bool value)
+ /// <param name="value">false琛ㄧず杈撳嚭锛宼rue琛ㄧず鍏抽棴</param>
+ public void WriteOut(short cardNum, short index, bool value)
{
short outNum = (short)(index % 100 + 1);
- switch (value)
+ if (value)
{
- case true:
- {
- GTSCardAPI.GT_SetDoBit(cardNumo, GTSCardAPI.MC_GPO, outNum, 0);//鎸変綅杈撳嚭锛�0琛ㄧず杈撳嚭锛�1琛ㄧず鍏抽棴
- }
- break;
- case false:
- {
- GTSCardAPI.GT_SetDoBit(cardNumo, GTSCardAPI.MC_GPO, outNum, 1);//鎸変綅杈撳嚭锛�0琛ㄧず杈撳嚭锛�1琛ㄧず鍏抽棴
- }
- break;
+ GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 0);
}
- }
-
- /// <summary>
- /// 鍋滄 鏌愪釜杞�
- /// </summary>
- /// <param name="cardNum"></param>
- /// <param name="axisNum"></param>
- /// <param name="option">0琛ㄧず骞虫粦鍋滄锛�1琛ㄧず绱ф�ュ仠姝�</param>
- public void Stop(short cardNum, short axisNum, short option)
- {
- GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), option);
+ else
+ {
+ GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 1);
+ }
}
/// <summary>
@@ -137,34 +558,15 @@
/// <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 value)
+ public void Stop(short cardNum, short axisNum, bool emergencyStop)
{
- switch (value)
+ if (emergencyStop)
{
- case false:
- {
- GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 0);
- }
- break;
- case true:
- {
- GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 1 << (axisNum - 1));
-
- }
- break;
+ GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 1 << (axisNum - 1));
}
- }
-
- /// <summary>
- /// 鍋滄 鍏ㄩ儴杞�
- /// </summary>
- /// <param name="cardNum"></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 StopAll(short cardNum, bool value)
- {
- for (short i = 1; i <= GTSCardParameter.AxisCount; i++)
+ else
{
- Stop(cardNum, i, value);
+ GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 0);
}
}
@@ -190,47 +592,28 @@
/// <summary>
/// 璇诲彇IO杈撳嚭鐘舵��
/// </summary>
- /// <param name="cardNumo"></param>
+ /// <param name="cardNum"></param>
/// <param name="index"></param>
/// <returns></returns>
- public bool GetDoSts(short cardNumo, short index)
+ public bool GetDoSts(short cardNum, short index)
{
short outNum = 0;
int outSts;
outNum = (short)(index % 100);
- GTSCardAPI.GT_GetDo(cardNumo, GTSCardAPI.MC_GPO, out outSts);
+ GTSCardAPI.GT_GetDo(cardNum, GTSCardAPI.MC_GPO, out outSts);
if ((outSts & (1 << outNum)) == 0) return true;
else return false;
- }
-
- static object lockObj = new object();
-
-
- /// <summary>
- /// 璇诲彇褰撳墠鍊�
- /// </summary>
- /// <param name="cardNum">鍗″彿</param>
- /// <param name="axisNum">杞村彿</param>
- /// <returns>杩斿洖褰撳墠鍊硷紝鍗曚綅姣背</returns>
- public double GetPosMM(short cardNum, short axisNum)
- {
- lock (lockObj)
- {
- double prfpos = 0; uint pclock = 0;
- GTSCardAPI.GT_GetPrfPos(cardNum, axisNum, out prfpos, 1, out pclock);
- return prfpos / GTSCardParameter.Dangliang;
- }
}
/// <summary>
/// 璇诲彇杞寸姸鎬侊紝鍒ゆ柇鐢垫満鏄惁鍋滄
/// </summary>
- /// <param name="cardNum"></param>
- /// <param name="axisNum"></param>
+ /// <param name="cardNum">鏉垮崱鍙�</param>
+ /// <param name="axisNum">杞村彿</param>
/// <returns></returns>
public bool IsStop(short cardNum, short axisNum)
{
- lock (lockObj)
+ lock (moveLock)
{
int sts = 0;
uint pclock = 0;
@@ -239,6 +622,8 @@
else return false; //杩愯涓繑鍥瀎alse
}
}
+
+ #endregion
public void Monitor()
{
@@ -249,5 +634,7 @@
{
throw new NotImplementedException();
}
+
+
}
}
diff --git a/src/Bro.Device.GTSCard/GtsCardManager.cs b/src/Bro.Device.GTSCard/GtsCardManager.cs
deleted file mode 100644
index 7be0c3f..0000000
--- a/src/Bro.Device.GTSCard/GtsCardManager.cs
+++ /dev/null
@@ -1,440 +0,0 @@
-锘�//using Bro.Common.PubSub;
-//using Broc.AOI.Entity;
-//using Broc.AOI.Manager;
-//using HalconDotNet;
-//using Lmi3d.GoSdk;
-//using Lmi3d.Zen;
-//using Lmi3d.Zen.Io;
-//using System;
-//using System.Collections.Generic;
-//using System.Configuration;
-//using System.Diagnostics;
-//using System.IO;
-//using System.Linq;
-//using System.Runtime.InteropServices;
-//using System.Threading;
-//using System.Threading.Tasks;
-//using static Broc.AOI.Manager.LogHelper;
-
-//namespace Bro.Device.GTSCard
-//{
-// public class GtsCardManager
-// {
-// GtsMotionCard _gts = new GtsMotionCard();
-// int pCount;//浣嶇疆姣旇緝宸茶緭鍑烘鏁�
-// bool canStop = false;
-// private static GtsIO curValueIo = new GtsIO();
-// CancellationTokenSource cts = new CancellationTokenSource();
-// private static int lastInputValue = Parameter.InDefaultValue;
-
-// int StopType = 0; //0锛氭湭鏀跺埌鎵嬪姩鍋滄淇″彿 1锛氭敹鍒版敹鍒板仠姝俊鍙� 2锛氭敹鍒版�ュ仠淇″彿
-// public GtsCardManager(ProductManager productManager)
-// {
-// try
-// {
-// _product = productManager.GetProductList().Find(x => x.IsDefault);
-// Monitor();
-// InitGocatorIO();
-// PubSubCenter.GetInstance().RemoveSubscribers(MessageType.StopType.ToString());
-// PubSubCenter.GetInstance().Subscribe(MessageType.StopType.ToString(), OnStopType);
-// gocatorRecord = new GocatorRecord();
-// //gocatorRecord.OnDataDone = OnGocatorDataDone;
-// gocatorRecord.Connect();
-// gocatorRecord.GocatorStop();
-// }
-// catch (Exception ex)
-// {
-// Trace.TraceError(ex.ToString());
-// }
-// }
-
-// private object OnStopType(ISubscriber arg1, object arg2, object arg3)
-// {
-// StopType = (int)arg2;
-// Trace.TraceInformation($"鍋滄淇″彿鍙樻洿涓猴細{StopType}");
-// if (StopType > 0)
-// {
-// Trace.TraceError("鍋滄鍚庤閲嶅惎杞欢");
-// }
-// return null;
-// }
-
-// public void InitGocatorIO()
-// {
-// _gts.WriteOut(Parameter.cardn, Parameter.EXO_8, false);
-// _gts.WriteOut(Parameter.cardn, Parameter.EXO_16, false);
-// }
-
-
-// public void DoCompare(List<ST_Point> pointList)
-// {
-// canStop = !canStop;
-// GTSCardAPI.T2DComparePrm prm;
-// short t;
-// short sRtn;
-// GTSCardAPI.T2DCompareData[] dataBuf = new GTSCardAPI.T2DCompareData[1];
-// short pStatus,
-// pFifo,//褰撳墠绌洪棽fifo
-// pFifoCount,//褰撳墠绌洪棽fifo鍓╀綑绌洪棿
-// pBufCount;//FPGA 涓� FIFO 鍓╀綑绌洪棿锛� FPGA 鐨� FIFO 鎬诲ぇ灏忎负 512锛屽惎鍔ㄤ綅缃瘮杈冧箣鍓嶏紝鍘嬪叆鐨勬暟鎹厛杩涘叆 FPGA 鐨� FIFO
-
-// sRtn = GTSCardAPI.GT_2DCompareClear(0, 0);
-// sRtn = GTSCardAPI.GT_2DCompareMode(0, 0, GTSCardAPI.COMPARE2D_MODE_2D);
-// prm.encx = Axisn.X; // X 杞翠负1杞�
-// prm.ency = Axisn.Y; // Y 杞翠负2杞�
-// prm.maxerr = 500; // 鏈�澶ц宸甈ulse
-// prm.outputType = 0; // 杈撳嚭绫诲瀷 = 鑴夊啿
-// prm.source = 1; // 姣旇緝婧�0 锛氳鍒�1锛氱紪鐮佸櫒
-// prm.startLevel = 0; //璧峰鐢靛钩鏂瑰紡0锛氫綅缃瘮杈冭緭鍑哄紩鑴氱數骞冲浣� 1锛氫綅缃瘮杈冭緭鍑哄紩鑴氱數骞冲彇鍙�
-// prm.threshold = 0; // 鏈�浼樼偣璁＄畻闃堝��
-// prm.time = 50; // 鑴夊啿瀹藉害 us
-// sRtn = GTSCardAPI.GT_2DCompareSetPrm(0, 0, ref prm);
-// sRtn = GTSCardAPI.GT_SetComparePort(0, GTSCardAPI.COMPARE_PORT_HSIO, 0, 1);
-// sRtn = GTSCardAPI.GT_2DCompareStart(0, 0);
-
-// foreach (var point in pointList)
-// {
-// dataBuf[0].px = point.X - (pointList[0].X + 2000);
-// dataBuf[0].py = point.Y - pointList[0].Y;
-// do
-// {
-// t = GTSCardAPI.GT_2DCompareStatus(0, 0, out pStatus, out pCount, out pFifo, out pFifoCount, out pBufCount);
-// t = GTSCardAPI.GT_2DCompareData(0, 0, 1, ref dataBuf[0], pFifo);//鍘嬪叆鏁版嵁
-// } while (t != 0);
-// }
-// }
-
-// public void ChaBu(List<ST_Point> pointList)
-// {
-// short sRtn = -1; //Googol杩斿洖鍊兼煡璇�
-// GTSCardAPI.TCrdPrm crdPrm = new GTSCardAPI.TCrdPrm(); //鍧愭爣绯诲弬鏁扮粨鏋勪綋
-// int[] posTest = new int[2];
-
-// GTSCardAPI.TCrdData temp = new GTSCardAPI.TCrdData();//瀹氫箟鍓嶇灮缂撳瓨鍖哄ぇ灏忎负200娈�
-// GTSCardAPI.TCrdData[] crdData = new GTSCardAPI.TCrdData[400];
-// int size = Marshal.SizeOf(temp) * 400;
-// IntPtr pCrdData = Marshal.AllocHGlobal(size);
-
-// //******绗竴姝ュ缓浜岀淮绔嬪潗鏍囩郴1杞碭浜岃酱Y锛屼娇鐢ㄥ潗鏍囩郴1鐨凢IFO0鍘嬪叆鏁版嵁銆�
-// crdPrm.dimension = 3; // 寤虹珛涓夌淮鐨勫潗鏍囩郴
-// crdPrm.synVelMax = 500; // 鍧愭爣绯荤殑鏈�澶у悎鎴愰�熷害鏄�: 500 pulse/ms
-// crdPrm.synAccMax = 5; // 鍧愭爣绯荤殑鏈�澶у悎鎴愬姞閫熷害鏄�: 5 pulse/ms^2
-// crdPrm.evenTime = 0; // 鍧愭爣绯荤殑鏈�灏忓寑閫熸椂闂翠负0
-// crdPrm.profile1 = 1; // 瑙勫垝鍣�1瀵瑰簲鍒癤杞�
-// crdPrm.profile2 = 2; // 瑙勫垝鍣�2瀵瑰簲鍒癥杞�
-// crdPrm.profile3 = 3;
-// crdPrm.profile4 = 0;
-// crdPrm.profile5 = 0;
-// crdPrm.profile6 = 0;
-// crdPrm.profile7 = 0; // 鑻rofile7 = 1锛岃鍒掑櫒7瀵瑰簲鍒癤杞�
-// crdPrm.profile8 = 0;
-// crdPrm.setOriginFlag = 1; // 闇�瑕佽缃姞宸ュ潗鏍囩郴鍘熺偣浣嶇疆
-// crdPrm.originPos1 = 0; // 鍔犲伐鍧愭爣绯诲師鐐逛綅缃湪(0,0)锛屽嵆涓庢満搴婂潗鏍囩郴鍘熺偣閲嶅悎
-// crdPrm.originPos2 = 0;
-// crdPrm.originPos3 = 0;
-// crdPrm.originPos4 = 0;
-// crdPrm.originPos5 = 0;
-// crdPrm.originPos6 = 0;
-// crdPrm.originPos7 = 0;
-// crdPrm.originPos8 = 0;
-// sRtn = GTSCardAPI.GT_SetCrdPrm(0, 1, ref crdPrm); //蹇呴』鍦ㄨ酱璋冪敤鍋滄鐘舵�佷笅
-// sRtn = GTSCardAPI.GT_CrdClear(0, 1, 0);//娓呴櫎鍧愭爣绯�1 FIFO1涓殑鏁版嵁缂撳瓨
-// // 鍒濆鍖栧潗鏍囩郴1鐨凢IFO0鐨勫墠鐬绘ā鍧�
-// sRtn = GTSCardAPI.GT_InitLookAhead(Parameter.cardn, //鍗″彿
-// Parameter.crdn, //鍧愭爣绯�
-// Parameter.fifo, //FIFO
-// 5, //鎷愯鏃堕棿T
-// 5, //accMax
-// 200, //鏁版嵁娈礜
-// pCrdData); //缁撴瀯浣揷rdData
-
-// //*******绗簩姝ュ帇鍏ユ暟鎹紝瓒呰繃4096娈靛惊鐜帇鍏ャ��
-// foreach (var point in pointList)
-// {
-// //sRtn = mc.GT_LnXY(Parameter.cardn, Parameter.crdn, point.X, point.Y, Parameter.speed, Parameter.synAcc, Parameter.velEnd, Parameter.fifo);
-// sRtn = GTSCardAPI.GT_LnXYZ(Parameter.cardn, Parameter.crdn, point.X, point.Y, point.Z.Value, Parameter.flySpeed, Parameter.flyAcc, Parameter.velEnd, Parameter.fifo);
-// }
-// sRtn = GTSCardAPI.GT_CrdData(Parameter.cardn, Parameter.crdn, System.IntPtr.Zero, Parameter.fifo);
-// GTSCardAPI.GT_CrdStart(0, 1, 0);
-// }
-
-// public void On()
-// {
-// for (int i = 1; i <= Axisn.Count; i++)
-// {
-// GTSCardAPI.GT_AxisOn(0, (short)i);
-// }
-// }
-
-// public void Off()
-// {
-// for (int i = 1; i <= Axisn.Count; i++)
-// {
-// GTSCardAPI.GT_AxisOff(0, (short)i);
-// }
-// }
-
-// public void GoHome()
-// {
-// try
-// {
-// //娓呴櫎鎶ヨ
-// ClearGtsAlarm();
-
-// Task.Run(() =>
-// {
-// //鍏抽棴Gocator X Y
-// _gts.WriteOut(Parameter.cardn, Parameter.EXO_8, false);
-// _gts.WriteOut(Parameter.cardn, Parameter.EXO_16, false);
-// ////鍒囨崲Gocator鐨凧ob涓洪暱杈笿ob
-// //gocatorRecord.GocatorStop();
-// //gocatorRecord.SwitchJob(_product.JobLong);
-
-// //Z杞村洖鍘熺偣锛岃繑鍥炵數鏈烘柟鍚�,寰呯粨鏉熷悗鍐嶅姩X銆乊杞达紝閬垮厤纰版挒
-// _gts.GoHome(Parameter.cardn, Axisn.Z, GTSCardAPI.HOME_MODE_LIMIT_HOME, -1, 0);
-// //X杞村洖鍘熺偣,杩滅鐢垫満
-// _gts.GoHome(Parameter.cardn, Axisn.X, GTSCardAPI.HOME_MODE_LIMIT_HOME, 1, 0);
-
-// _gts.GoHome(Parameter.cardn, Axisn.Y, GTSCardAPI.HOME_MODE_LIMIT_HOME, 1, 0);
-
-// while (true)
-// {
-// Thread.Sleep(100);
-// if (_gts.IsStop(0, Axisn.X) && _gts.IsStop(0, Axisn.Y) && _gts.IsStop(0, Axisn.Z) && StopType == 0)
-// {
-// //鍓嶅線涓婃枡鐐�
-// GoLoading();
-// PubSubCenter.GetInstance().Publish(MessageType.IsHome.ToString(), null, null);
-// break;
-// }
-// }
-// });
-// }
-// catch (Exception ex)
-// {
-// Trace.TraceError("GoHome寮傚父锛歿0}", ex);
-// }
-// }
-
-// public void GoLoading()
-// {
-// try
-// {
-// while (true)
-// {
-// if (_gts.IsStop(0, Axisn.Y))
-// {
-// _gts.P2P(Parameter.cardn, Axisn.Y, Parameter.loading, Parameter.freeSpeed);
-// break;
-// }
-// }
-// }
-// catch (Exception ex)
-// {
-// Trace.TraceError("GoLoading寮傚父锛歿0}", ex);
-// }
-
-// }
-
-// public void ClearGtsAlarm()
-// {
-// int axis_sts;
-// uint clk;
-
-// GTSCardAPI.GT_ClrSts(Parameter.cardn, 1, Axisn.Count);
-// for (short i = Axisn.Count; i > 0; i--)
-// {
-// GTSCardAPI.GT_GetSts(Parameter.cardn, i, out axis_sts, 1, out clk);
-// if ((axis_sts & 0x200) == 0)
-// {
-// var rst = GTSCardAPI.GT_AxisOn(0, i);
-// }
-
-// // 姝ｆ瀬闄愭姤璀�
-// if ((axis_sts & 0x20) != 0)
-// {
-// // 浣嶇疆璇烽浂
-// GTSCardAPI.GT_ZeroPos(Parameter.cardn, 1, Axisn.Count);
-// // 璐熷悜绉诲姩
-// _gts.P2P(Parameter.cardn, i, -50, Parameter.homeSpeed);
-// }
-
-// // 璐熸瀬闄愭姤璀�
-// if ((axis_sts & 0x40) != 0)
-// {
-// // 浣嶇疆璇烽浂
-// GTSCardAPI.GT_ZeroPos(Parameter.cardn, 1, Axisn.Count);
-// // 姝ｅ悜绉诲姩
-// _gts.P2P(Parameter.cardn, i, 50, Parameter.homeSpeed);
-// }
-// }
-
-// // 娓呴櫎鐘舵��
-// GTSCardAPI.GT_ClrSts(Parameter.cardn, 1, Axisn.Count);
-// }
-
-// public void Stop(bool value)
-// {
-// Task.Run(() =>
-// {
-// try
-// {
-// _gts.Stop(Parameter.cardn, Axisn.X, value);
-// _gts.Stop(Parameter.cardn, Axisn.Y, value);
-// _gts.Stop(Parameter.cardn, Axisn.Z, value);
-// }
-// catch (Exception ex)
-// {
-
-// }
-// });
-// }
-
-// public void GoToFirst(ST_Point point)
-// {
-// _gts.P2P(Parameter.cardn, Axisn.X, point.X + 2000, Parameter.p2pSpeed);
-// _gts.P2P(Parameter.cardn, Axisn.Y, point.Y, Parameter.p2pSpeed);
-// _gts.P2P(Parameter.cardn, Axisn.Z, point.Z.Value, Parameter.p2pSpeed);
-// while (true)
-// {
-// if (_gts.IsStop(0, Axisn.X) && _gts.IsStop(0, Axisn.Y) && _gts.IsStop(0, Axisn.Z)) break;
-// }
-// }
-
-// //public void ExistSport(int checkId, string barcode, CameraManager cameraManager, List<ST_Point> pointList, List<ST_CheckItem> checkItemExistList, string path)
-// //{
-// // cameraManager.SetExposure(Parameter.existExposure);
-// // cameraManager.BeginAcquisition();
-// // int speed = 0;
-
-// // int i = 1;
-// // foreach (var point in pointList)
-// // {
-// // //鍥涗釜姝ｉ潰鍏夛細true琛ㄧず鐔勭伃銆乫alse琛ㄧず浜捣
-// // if (!string.IsNullOrEmpty(point.Light) && point.Light.Contains(","))
-// // {
-// // SetLightOn(point.Light);
-// // }
-
-// // speed = Parameter.p2pSpeed;
-// // _gts.P2P(Parameter.cardn, Axisn.X, point.X, speed);
-// // _gts.P2P(Parameter.cardn, Axisn.Y, point.Y, speed);
-// // _gts.P2P(Parameter.cardn, Axisn.Z, point.Z.Value, speed);
-// // while (true)
-// // {
-// // if (_gts.IsStop(0, Axisn.X) && _gts.IsStop(0, Axisn.Y) && _gts.IsStop(0, Axisn.Z) && StopType == 0) break;
-// // }
-
-// // cameraManager.ExistCheck(checkId, barcode, checkItemExistList, i, point, path);
-// // CheckProcess checkProcess = i == 1 ? CheckProcess.Begin : i == pointList.Count ? CheckProcess.CheckEnd : CheckProcess.In;
-// // i++;
-// // }
-
-// // //鍥涗釜姝ｉ潰鍏夛細true琛ㄧず鐔勭伃銆乫alse琛ㄧず浜捣
-// // SetLightOff();
-
-// //}
-
-// public void Monitor()
-// {
-// lastInputValue = Parameter.InDefaultValue;
-// Task.Factory.StartNew(() =>
-// {
-// while (!cts.IsCancellationRequested)
-// {
-// try
-// {
-// Thread.Sleep(100);
-// //mc.GT_GetDi(Parameter.cardn, mc.MC_LIMIT_POSITIVE, out curValueIo.Limpos);
-// //mc.GT_GetDi(Parameter.cardn, mc.MC_LIMIT_NEGATIVE, out curValueIo.Limneg);
-// //mc.GT_GetDi(Parameter.cardn, mc.MC_HOME, out curValueIo.Home);
-// //mc.GT_GetDi(Parameter.cardn, mc.MC_ALARM, out curValueIo.Alarm);
-// GTSCardAPI.GT_GetDi(Parameter.cardn, GTSCardAPI.MC_GPI, out curValueIo.Input);
-// //mc.GT_GetDo(Parameter.cardn, mc.MC_GPO, out curValueIo.Output);
-// //if (_gts.IsAlarm())
-// //{
-// // //鎬ュ仠
-// // _gts.Stop(Parameter.cardn, true);
-// // // 寮�鍚彁绀虹孩鐏拰澹伴煶
-// // AlarmLight(AlarmType.Red);
-// //}
-// if (curValueIo.Input != lastInputValue)
-// {
-// OnMessageIO();
-// lastInputValue = curValueIo.Input;
-// }
-// }
-// catch (Exception ex)
-// {
-// Trace.TraceError("Monitor: {0}", ex.Message);
-// }
-// }
-// }, cts.Token);
-// }
-
-// //private void OnMessageIO()
-// //{
-// // try
-// // {
-// // //鏍规嵁淇″彿鎵ц鐩稿簲鍔ㄤ綔
-// // for (var i = 0; i < 16; i++)
-// // {
-// // if ((lastInputValue & (1 << i)) != (curValueIo.Input & (1 << i)))
-// // {
-// // // 鏈夊彉鍖栧湪鍙戝竷閫氱煡 InputBitIndex-Value(0/1)
-// // byte v = (byte)((curValueIo.Input & (1 << i)) >> i);
-// // PubSubCenter.GetInstance().Publish(MessageType.MessageIO.ToString(), i, v);
-// // }
-// // }
-// // }
-// // catch (Exception ex)
-// // {
-// // Trace.TraceError("OnServerMessage: {0}", ex.Message);
-// // }
-// //}
-
-// //private void SetLightOn(string lights)
-// //{
-// // if (lights.Contains("1"))
-// // {
-// // _gts.WriteOut(Parameter.cardn, Parameter.EXO_9, false);
-// // }
-// // else
-// // {
-// // _gts.WriteOut(Parameter.cardn, Parameter.EXO_9, true);
-// // }
-// // if (lights.Contains("2"))
-// // {
-// // _gts.WriteOut(Parameter.cardn, Parameter.EXO_10, false);
-// // }
-// // else
-// // {
-// // _gts.WriteOut(Parameter.cardn, Parameter.EXO_10, true);
-// // }
-// // if (lights.Contains("3"))
-// // {
-// // _gts.WriteOut(Parameter.cardn, Parameter.EXO_11, false);
-// // }
-// // else
-// // {
-// // _gts.WriteOut(Parameter.cardn, Parameter.EXO_11, true);
-// // }
-// // if (lights.Contains("4"))
-// // {
-// // _gts.WriteOut(Parameter.cardn, Parameter.EXO_12, false);
-// // }
-// // else
-// // {
-// // _gts.WriteOut(Parameter.cardn, Parameter.EXO_12, true);
-// // }
-// //}
-
-// //private void SetLightOff()
-// //{
-// // _gts.WriteOut(Parameter.cardn, Parameter.EXO_10, true);
-// // _gts.WriteOut(Parameter.cardn, Parameter.EXO_9, true);
-// // _gts.WriteOut(Parameter.cardn, Parameter.EXO_11, true);
-// // _gts.WriteOut(Parameter.cardn, Parameter.EXO_12, true);
-// //}
-// }
-//}
diff --git a/src/Bro.Device.GTSCard/GtsIO.cs b/src/Bro.Device.GTSCard/GtsIO.cs
deleted file mode 100644
index de2b527..0000000
--- a/src/Bro.Device.GTSCard/GtsIO.cs
+++ /dev/null
@@ -1,63 +0,0 @@
-锘�//using System;
-//using System.Collections.Generic;
-//using System.Linq;
-//using System.Text;
-//using System.Threading.Tasks;
-
-//namespace Bro.Device.GTSCard
-//{
-// public class GtsIO
-// {
-// /// <summary>
-// /// 杈撳叆鐐逛綅
-// /// </summary>
-// public int Input;
-
-// /// <summary>
-// /// 杈撳嚭鐐逛綅
-// /// </summary>
-// public int Output;
-
-// /// <summary>
-// /// 鍥為浂鐐逛綅
-// /// </summary>
-// public int Home;
-
-// /// <summary>
-// /// 姝ｆ瀬闄�
-// /// </summary>
-// public int Limpos;
-
-// /// <summary>
-// /// 璐熸瀬闄�
-// /// </summary>
-// public int Limneg;
-
-// /// <summary>
-// /// 鎶ヨ淇℃伅
-// /// </summary>
-// public int Alarm;
-
-// /// <summary>
-// /// 杞寸姸鎬�
-// /// </summary>
-// public int AxisSts;
-
-// /// <summary>
-// /// X杞磋鍒掍綅缃�
-// /// </summary>
-// public double PrfPosX;
-// /// <summary>
-// /// Y杞磋鍒掍綅缃�
-// /// </summary>
-// public double PrfPosY;
-// /// <summary>
-// /// Z杞磋鍒掍綅缃�
-// /// </summary>
-// public double PrfPosZ;
-// /// <summary>
-// /// A杞磋鍒掍綅缃�
-// /// </summary>
-// public double PrfPosA;
-// }
-//}
diff --git a/src/Bro.Device.GTSCard/GtsMotionCard.cs b/src/Bro.Device.GTSCard/GtsMotionCard.cs
deleted file mode 100644
index 4d5a7da..0000000
--- a/src/Bro.Device.GTSCard/GtsMotionCard.cs
+++ /dev/null
@@ -1,483 +0,0 @@
-锘�//using Broc.AOI.Entity;
-//using System;
-//using System.Collections.Generic;
-//using System.Runtime.InteropServices;
-//using System.Threading;
-
-//namespace Bro.Device.GTSCard
-//{
-// public class GtsMotionCard
-// {
-// private const int dangliang = 1;
-// private object lockobj = new object();//绾跨▼閿�
-// /// <summary>
-// /// 鍒濆鍖栧崱
-// /// </summary>
-// /// <returns></returns>
-// public bool InitCard()
-// {
-// short rtn;
-// rtn = GTSCardAPI.GT_Open(0, 0, 1); //鎵撳紑杩愬姩鎺у埗鍣ㄣ�傚弬鏁板繀椤讳负锛�0,1锛夛紝涓嶈兘淇敼銆�
-// //rtn += mc.GT_Reset(0);
-// rtn += GTSCardAPI.GT_LoadConfig(0, AppDomain.CurrentDomain.BaseDirectory + @"Gts800.cfg");
-// rtn += GTSCardAPI.GT_ClrSts(0, 1, 8);
-// return rtn == 0;
-
-// }
-// /// <summary>
-// /// 鎵╁睍妯″潡鍒濆鍖�
-// /// </summary>
-// /// <param name="cardNum"></param>
-// /// <returns></returns>
-// public bool ExtIOModuleInit(short cardNum)
-// {
-// short rtn = 0;
-// rtn += GTSCardAPI.GT_OpenExtMdl(cardNum, "gts.dll");
-// rtn += GTSCardAPI.GT_LoadExtConfig(cardNum, "ExtModule.cfg");
-// rtn += GTSCardAPI.GT_ResetExtMdl(cardNum);
-// return rtn == 0;
-// }
-// /// <summary>
-// /// 鍥為浂
-// /// </summary>
-// /// <param name="cardNum">鍗″彿</param>
-// /// <param name="axisNum">杞村彿</param>
-// /// <param name="homests">杞村洖鍘熺偣鐘舵��</param>
-// public bool GoHome(short cardNum, short axisNum, short home_mode, short home_dir, int homeoffset)
-// {
-// GTSCardAPI.GT_ZeroPos(cardNum, axisNum, 1);
-// GTSCardAPI.THomePrm thomeprm;
-// GTSCardAPI.THomeStatus homests;
-// short rtn = GTSCardAPI.GT_GetHomePrm(cardNum, axisNum, out thomeprm);
-// thomeprm.mode = home_mode;//鍥為浂鏂瑰紡
-// thomeprm.moveDir = home_dir;//鍥為浂鏂瑰悜
-// thomeprm.edge = 0;
-// thomeprm.velHigh = 50;
-// thomeprm.velLow = 50;
-// thomeprm.acc = 50;
-// thomeprm.dec = 50;
-// thomeprm.searchHomeDistance = 9999999;//鎼滄悳璺濈
-// thomeprm.homeOffset = 0; //鍋忕Щ璺濈
-// thomeprm.escapeStep = 1000;
-// rtn = GTSCardAPI.GT_GoHome(cardNum, axisNum, ref thomeprm); //鍚姩鍥為浂
-// //do
-// //{
-// // mc.GT_GetHomeStatus(cardNum, axisNum, out homests);//鑾峰彇鍥炲師鐐圭姸鎬�
-// //} while (homests.run == 1); // 绛夊緟鎼滅储鍘熺偣鍋滄
-// //mc.GT_ZeroPos(cardNum, axisNum, 1);
-// //return true;
-
-// while (true)
-// {
-// Thread.Sleep(5);
-// GTSCardAPI.GT_GetHomeStatus(cardNum, axisNum, out homests);
-// if (homests.run == 0)
-// {
-// if (homests.error == 0)
-// {
-// Thread.Sleep(200);
-// GTSCardAPI.GT_ZeroPos(cardNum, axisNum, 1);
-// }
-// return true;
-// }
-// }
-// }
-
-// /// <summary>
-// /// 鐐逛綅鍒扮偣浣� 杩愬姩
-// /// </summary>
-// /// <param name="cardNum">鍗″彿</param>
-// /// <param name="axisNum">杞村彿</param>
-// /// <param name="prfPosition">瑙勫垝浣嶇疆,鍗曚綅姣背</param>
-// /// <param name="prfVelocity">瑙勫垝閫熷害,鍗曚綅绫虫瘡绉�</param>
-// public void P2P(short cardNum, short axisNum, int prfPosition, int prfVelocity)
-// {
-// GTSCardAPI.TTrapPrm trapprm;
-// GTSCardAPI.GT_PrfTrap(cardNum, axisNum);
-// GTSCardAPI.GT_GetTrapPrm(cardNum, axisNum, out trapprm);
-// trapprm.acc = Parameter.p2pAcc;
-// trapprm.dec = Parameter.p2pDec;
-// trapprm.smoothTime = 1;
-// GTSCardAPI.GT_SetTrapPrm(cardNum, axisNum, ref trapprm);
-// GTSCardAPI.GT_SetPos(cardNum, axisNum, prfPosition * dangliang);
-// GTSCardAPI.GT_SetVel(cardNum, axisNum, prfVelocity * dangliang);
-// GTSCardAPI.GT_Update(cardNum, 1 << (axisNum - 1));
-// }
-
-// /// <summary>
-// /// 鍋滄
-// /// </summary>
-// /// <param name="cardNum"></param>
-// /// <param name="axisNum"></param>
-// /// <param name="option">0琛ㄧず骞虫粦鍋滄锛�1琛ㄧず绱ф�ュ仠姝�</param>
-// public void Stop(short cardNum, short axisNum, short option)
-// {
-// GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), option);
-// }
-
-// /// <summary>
-// /// 鍋滄
-// /// </summary>
-// /// <param name="cardNum"></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, bool value)
-// {
-// for (short i = 1; i <= Axisn.Count; i++)
-// {
-// Stop(cardNum, i, value);
-// }
-// }
-
-// /// <summary>
-// /// Jog杩愬姩
-// /// </summary>
-// /// <param name="cardNum"></param>
-// /// <param name="axisNum"></param>
-// /// <param name="prfvel_ms">瑙勫垝閫熷害锛屽崟浣嶇背姣忕</param>
-// public void Jog(short cardNum, short axisNum, double prfvel_ms)
-// {
-// GTSCardAPI.TJogPrm jogprm = new GTSCardAPI.TJogPrm();
-// short rtn = GTSCardAPI.GT_PrfJog(cardNum, axisNum);
-// jogprm.acc = 1;
-// jogprm.dec = 1;
-// GTSCardAPI.GT_SetJogPrm(cardNum, axisNum, ref jogprm);//璁剧疆jog杩愬姩鍙傛暟
-// GTSCardAPI.GT_SetVel(cardNum, axisNum, prfvel_ms);//璁剧疆鐩爣閫熷害
-// GTSCardAPI.GT_Update(cardNum, 1 << (axisNum - 1));//鏇存柊杞磋繍鍔�
-// }
-// /// <summary>
-// /// 璇诲彇杈撳叆
-// /// </summary>
-// /// <param name="cardNum">鍗″彿</param>
-// /// <param name="index">杈撳叆鍙�</param>
-// /// <returns>鏈夎緭鍏ヨ繑鍥瀟rue锛屾棤杈撳叆杩斿洖false</returns>
-// public bool GetDi(short cardNum, short index)
-// {
-// 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
-// else return false; //鏃犺緭鍏ヨ繑鍥瀎alse
-// }
-// /// <summary>
-// /// 璇诲彇姝ｉ檺浣�
-// /// </summary>
-// /// <param name="cardNum">鍗″彿</param>
-// /// <param name="axisNum">杞村彿</param>
-// /// <returns>0琛ㄧず瑙﹀彂闄愪綅锛�1琛ㄧず娌℃湁瑙﹀彂</returns>
-// public bool GetPosLimit(short cardNum, short axisNum)
-// {
-// int value;
-// GTSCardAPI.GT_GetDi(cardNum, GTSCardAPI.MC_LIMIT_POSITIVE, out value);
-// if ((value & 1 << axisNum) == 0) return true;////0琛ㄧず瑙﹀彂闄愪綅,杩斿洖true锛�
-// else return false; // //1琛ㄧず娌℃湁瑙﹀彂,杩斿洖false
-// }
-// /// <summary>
-// /// 璇诲彇璐熼檺浣�
-// /// </summary>
-// /// <param name="cardNum">鍗″彿</param>
-// /// <param name="axisNum">杞村彿</param>
-// /// <returns>0琛ㄧず瑙﹀彂闄愪綅,杩斿洖true锛�1琛ㄧず娌℃湁瑙﹀彂,杩斿洖false</returns>
-// public bool GetNegLimit(short cardNum, short axisNum)
-// {
-// int value;
-// GTSCardAPI.GT_GetDi(cardNum, GTSCardAPI.MC_LIMIT_NEGATIVE, out value);
-// if ((value & 1 << axisNum) == 0) return true;//0琛ㄧず瑙﹀彂闄愪綅,杩斿洖true锛�
-// else return false; //1琛ㄧず娌℃湁瑙﹀彂,杩斿洖false
-// }
-// /// <summary>
-// /// 杈撳嚭
-// /// </summary>
-// /// <param name="cardNumo">鍗″彿</param>
-// /// <param name="index">杈撳嚭鍙�,杩斿洖1-16</param>
-// /// <param name="value">0琛ㄧず杈撳嚭锛�1琛ㄧず鍏抽棴</param>
-// public void WriteOut(short cardNumo, short index, bool value)
-// {
-// short outNum = 0;
-// outNum = (short)(index % 100 + 1);
-// switch (value)
-// {
-// case true:
-// {
-// GTSCardAPI.GT_SetDoBit(cardNumo, GTSCardAPI.MC_GPO, outNum, 0);//鎸変綅杈撳嚭锛�0琛ㄧず杈撳嚭锛�1琛ㄧず鍏抽棴
-// }
-// break;
-// case false:
-// {
-// GTSCardAPI.GT_SetDoBit(cardNumo, GTSCardAPI.MC_GPO, outNum, 1);//鎸変綅杈撳嚭锛�0琛ㄧず杈撳嚭锛�1琛ㄧず鍏抽棴
-// }
-// break;
-// }
-// }
-// /// <summary>
-// /// 璇诲彇IO杈撳嚭鐘舵��
-// /// </summary>
-// /// <param name="cardNumo"></param>
-// /// <param name="index"></param>
-// /// <returns></returns>
-// public bool GetDoSts(short cardNumo, short index)
-// {
-// short outNum = 0;
-// int outSts;
-// outNum = (short)(index % 100);
-// GTSCardAPI.GT_GetDo(cardNumo, GTSCardAPI.MC_GPO, out outSts);
-// if ((outSts & (1 << outNum)) == 0) return true;
-// else return false;
-// }
-// /// <summary>
-// /// 璇诲彇褰撳墠鍊�
-// /// </summary>
-// /// <param name="cardNum">鍗″彿</param>
-// /// <param name="axisNum">杞村彿</param>
-// /// <returns>杩斿洖褰撳墠鍊硷紝鍗曚綅姣背</returns>
-// public double GetPosMM(short cardNum, short axisNum)
-// {
-// lock (lockobj)
-// {
-// double prfpos = 0; uint pclock = 0;
-// GTSCardAPI.GT_GetPrfPos(cardNum, axisNum, out prfpos, 1, out pclock);
-// return prfpos / dangliang;
-// }
-// }
-
-// /// <summary>
-// /// 璇诲彇杞寸姸鎬侊紝鍒ゆ柇鐢垫満鏄惁鍋滄
-// /// </summary>
-// /// <param name="cardNum"></param>
-// /// <param name="axisNum"></param>
-// /// <returns></returns>
-// public bool IsStop(short cardNum, short axisNum)
-// {
-// lock (lockobj)
-// {
-// 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
-// }
-// }
-
-// /// <summary>
-// /// 浜岀淮浣嶇疆姣旇緝杈撳嚭
-// /// </summary>
-// /// <param name="cardNum"></param>
-// /// <param name="output_data"></param>
-// public void Compare2DOutput(short cardNum, short chn, int[] output_data)
-// {
-// GTSCardAPI.GT_2DCompareClear(cardNum, chn);
-// GTSCardAPI.GT_2DCompareMode(cardNum, chn, GTSCardAPI.COMPARE2D_MODE_2D);
-// GTSCardAPI.GT_SetComparePort(cardNum, GTSCardAPI.COMPARE_PORT_GPO, 0, 1);
-// GTSCardAPI.T2DComparePrm Prm;
-// Prm.encx = 1;
-// Prm.ency = 2;
-// Prm.maxerr = 300;
-// Prm.outputType = 0;
-// Prm.source = 0;
-// Prm.startLevel = 0;
-// Prm.threshold = 10;
-// Prm.time = 10000;
-// GTSCardAPI.GT_2DCompareSetPrm(cardNum, chn, ref Prm);
-// GTSCardAPI.T2DCompareData[] pBuf = new GTSCardAPI.T2DCompareData[5];
-// for (int i = 0; i < output_data.Length / 2; i += 2)
-// {
-// pBuf[i].px = 1000;
-// pBuf[i + 1].py = 1000;
-// }
-// GTSCardAPI.GT_2DCompareData(cardNum, chn, (short)(output_data.Length / 2), ref pBuf[0], 0);
-// GTSCardAPI.GT_2DCompareStart(cardNum, chn);
-// }
-
-// /// <summary>
-// /// 鎸変綅璇诲彇鎵╁睍IO杈撳叆鍙�
-// /// </summary>
-// /// <param name="cardNum"></param>
-// /// <param name="mdl"></param>
-// /// <param name="index"></param>
-// /// <returns></returns>
-// public bool GetDiBit(short cardNum, short mdl, short index)
-// {
-// ushort pvalue = 0;
-// GTSCardAPI.GT_GetExtIoBit(cardNum, mdl, index, out pvalue);
-// return pvalue == 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>
-// /// 寤虹珛鎻掕ˉ鍧愭爣绯�
-// /// </summary>
-// /// <param name="crdnum">鍧愭爣绯诲彿</param>
-// public void BuildCrd(short cardNum, short crdn, short axis_x, short axis_y, double maxVel, double maxAcc, short evenTime)
-// {
-// GTSCardAPI.TCrdPrm crdPrm;
-// crdPrm.dimension = 2;
-// crdPrm.synVelMax = maxVel;
-// crdPrm.synAccMax = maxAcc;
-// crdPrm.evenTime = evenTime;
-// crdPrm.profile1 = 1;
-// crdPrm.profile2 = 2;
-// crdPrm.profile3 = 0;
-// crdPrm.profile4 = 0;
-// crdPrm.profile5 = 0;
-// crdPrm.profile6 = 0;
-// crdPrm.profile7 = 0;
-// crdPrm.profile8 = 0;
-// crdPrm.setOriginFlag = 1;
-// crdPrm.originPos1 = 0;
-// crdPrm.originPos2 = 0;
-// crdPrm.originPos3 = 0;
-// crdPrm.originPos4 = 0;
-// crdPrm.originPos5 = 0;
-// crdPrm.originPos6 = 0;
-// crdPrm.originPos7 = 0;
-// crdPrm.originPos8 = 0;
-// GTSCardAPI.GT_SetCrdPrm(cardNum, crdn, ref crdPrm);
-// GTSCardAPI.GT_CrdClear(cardNum, crdn, 0);
-// GTSCardAPI.GT_ClrSts(cardNum, 1, 4);
-// }
-// /// <summary>
-// /// 鐩寸嚎鎻掕ˉ
-// /// </summary>
-// /// <param name="chabunum"></param>
-// public void LnXY(short cardNum, short crdn, short fifon, int[] data, double vel, double prfacc, double endVel)
-// {
-// short run;
-// int segment;
-// for (int i = 0; i < data.Length; i += 2)
-// {
-// run = GTSCardAPI.GT_LnXY(cardNum, crdn, data[i], data[i + 1], vel, prfacc, endVel, fifon);
-// }
-// run = GTSCardAPI.GT_CrdStart(cardNum, crdn, 0);
-// //while (true)
-// //{
-// // mc.GT_CrdStatus(cardNum, crdn, out run, out segment, fifon);
-// // if (run == 0)
-// // {
-// // break;
-// // }
-// //}
-// }
-// /// <summary>
-// /// 浠ュ渾蹇冨仛鍦嗗姬鎻掕ˉ
-// /// </summary>
-// /// <param name="cardNum"></param>
-// /// <param name="crdn"></param>
-// /// <param name="fifon"></param>
-// /// <param name="data"></param>
-// /// <param name="xCenter"></param>
-// /// <param name="yCenter"></param>
-// /// <param name="dir"></param>
-// /// <param name="vel"></param>
-// /// <param name="prfacc"></param>
-// /// <param name="endVel"></param>
-// public void ArcXYC(short cardNum, short crdn, short fifon, int[] data, double xCenter, double yCenter, short dir, double vel, double prfacc, double endVel)
-// {
-// short run;
-// int segment;
-// for (int i = 0; i < data.Length; i += 2)
-// {
-// GTSCardAPI.GT_ArcXYC(cardNum, crdn, data[i], data[i + 1], xCenter, yCenter, dir, vel, prfacc, endVel, fifon);
-// }
-// GTSCardAPI.GT_CrdStart(cardNum, crdn, 0);
-// while (true)
-// {
-// GTSCardAPI.GT_CrdStatus(cardNum, crdn, out run, out segment, fifon);
-// if (run == 0)
-// {
-// break;
-// }
-// }
-// }
-// /// <summary>
-// /// 浠ュ崐寰勫仛鍦嗗姬鎻掕ˉ
-// /// </summary>
-// /// <param name="cardNum"></param>
-// /// <param name="crdn"></param>
-// /// <param name="fifon"></param>
-// /// <param name="data"></param>
-// /// <param name="rad"></param>
-// /// <param name="dir"></param>
-// /// <param name="vel"></param>
-// /// <param name="prfacc"></param>
-// /// <param name="endVel"></param>
-// public void ArcXYR(short cardNum, short crdn, short fifon, int[] data, double rad, short dir, double vel, double prfacc, double endVel)
-// {
-// short run;
-// int segment;
-// for (int i = 0; i < data.Length; i += 2)
-// {
-// GTSCardAPI.GT_ArcXYR(cardNum, crdn, data[i], data[i + 1], rad, dir, vel, prfacc, endVel, fifon);
-// }
-// GTSCardAPI.GT_CrdStart(cardNum, crdn, 0);
-// while (true)
-// {
-// GTSCardAPI.GT_CrdStatus(cardNum, crdn, out run, out segment, fifon);
-// if (run == 0)
-// {
-// break;
-// }
-// }
-// }
-// /// <summary>
-// /// 鍋滄杩愬姩
-// /// </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 value)
-// {
-// switch (value)
-// {
-// case false:
-// {
-// GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 0);
-// }
-// break;
-// case true:
-// {
-// GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 1 << (axisNum - 1));
-
-// }
-// break;
-// }
-
-// }
-
-// /// <summary>
-// /// 鏄惁鎶ヨ
-// /// bit 0-鍏夋爡锛宐it 1-闂ㄥ紑鍏筹紝bit 2-鎬ュ仠
-// /// 1100 0000 0101
-// /// </summary>
-// /// <returns></returns>
-// public bool IsAlarm()
-// {
-// GTSCardAPI.GT_GetDi(Parameter.cardNum, GTSCardAPI.MC_GPI, out var input);
-// var bRet =
-// ((input & (1 << Parameter.EXI6)) >> Parameter.EXI6) == 1 ||
-// //((input & (1 << GlueInCommands.EXI1)) >> GlueInCommands.EXI1) == 0 || todo
-// ((input & (1 << Parameter.EXI4)) >> Parameter.EXI4) == 1;
-// //var bRet = isAlarm ||
-// // ((input & (1 << Parameter.EXI6)) >> Parameter.EXI6) == 1 ||
-// // //((input & (1 << GlueInCommands.EXI1)) >> GlueInCommands.EXI1) == 0 || todo
-// // ((input & (1 << Parameter.EXI4)) >> Parameter.EXI4) == 1;
-
-// return bRet;
-// }
-// }
-//}
\ No newline at end of file
diff --git a/src/Bro.Device.GTSCard/GtsParameter.cs b/src/Bro.Device.GTSCard/GtsParameter.cs
deleted file mode 100644
index 7e4f21d..0000000
--- a/src/Bro.Device.GTSCard/GtsParameter.cs
+++ /dev/null
@@ -1,194 +0,0 @@
-锘�//using System;
-//using System.Collections.Generic;
-//using System.Configuration;
-//using System.Linq;
-//using System.Text;
-//using System.Threading.Tasks;
-
-//namespace Broc.AOI.Entity
-//{
-// /// <summary>
-// /// 鐐逛綅绫诲瀷
-// /// </summary>
-// public enum PointType
-// {
-// /// <summary>
-// /// 鐩寸嚎鎻掕ˉ
-// /// </summary>
-// Line = 1,
-// /// <summary>
-// /// 鍦嗗姬鎻掕ˉ(鍗婂緞)
-// /// </summary>
-// CircleRadius,
-// /// <summary>
-// /// 鍦嗗姬鎻掕ˉ(鍦嗗績)
-// /// </summary>
-// CircleCenter
-// }
-
-// public static class Axisn
-// {
-// public const short X = 1;
-// public const short Y = 2;
-// public const short Z = 3;
-// public const short Count = 4;
-// }
-
-// public static class Parameter
-// {
-// #region 杩愬姩鍙傛暟
-// public static short cardn = Convert.ToInt16(ConfigurationManager.AppSettings["cardn"]);
-// public static short crdn = Convert.ToInt16(ConfigurationManager.AppSettings["crdn"]);
-// public static short fifo = Convert.ToInt16(ConfigurationManager.AppSettings["fifo"]);
-// public static int flySpeed = Convert.ToInt32(ConfigurationManager.AppSettings["flySpeed"]);
-// public static double flyAcc = Convert.ToDouble(ConfigurationManager.AppSettings["flyAcc"]);
-// public static int gocatorSpeed = Convert.ToInt32(ConfigurationManager.AppSettings["gocatorSpeed"]);
-// public static int p2pSpeed = Convert.ToInt32(ConfigurationManager.AppSettings["p2pSpeed"]);
-// public static double p2pAcc = Convert.ToDouble(ConfigurationManager.AppSettings["p2pAcc"]);
-// public static double p2pDec = Convert.ToDouble(ConfigurationManager.AppSettings["p2pDec"]);
-// public static int calibrationSpeed = Convert.ToInt32(ConfigurationManager.AppSettings["calibrationSpeed"]);
-// public static int calibrationZ = Convert.ToInt16(ConfigurationManager.AppSettings["calibrationZ"]);
-// public static int barcodeSpeed = Convert.ToInt32(ConfigurationManager.AppSettings["barcodeSpeed"]);
-// public static int freeSpeed = Convert.ToInt32(ConfigurationManager.AppSettings["freeSpeed"]);
-// public static int velEnd = Convert.ToInt32(ConfigurationManager.AppSettings["velEnd"]);
-// public static int homeSpeed = Convert.ToInt32(ConfigurationManager.AppSettings["homeSpeed"]);
-// public static int loading = Convert.ToInt32(ConfigurationManager.AppSettings["loading"]);
-// //public const short cardn = 0;//杩愬姩鎺у埗鍣ㄥ崱鍙� 榛樿涓猴細0
-// //public const short crdn = 1;//鍧愭爣绯诲彿 鍙栧�艰寖鍥达細[1, 2]
-// //public const short fifo = 0;//鎻掕ˉ缂撳瓨鍖哄彿 鍙栧�艰寖鍥达細[0, 1]锛岄粯璁ゅ�间负锛�0
-// //public const int flySpeed = 250;//椋炴媿閫熷害
-// //public const double flyAcc = 0.5;//椋炴媿鍔犻�熷害
-// //public const int gocatorSpeed = 150;//3D妫�娴嬭酱杩愬姩閫熷害
-// //public const int p2pSpeed = 250;//P2P閫熷害
-// //public const double p2pAcc = 1;//P2P鍔犻�熷害
-// //public const double p2pDec = 1;//P2P鍑忛�熷害
-// //public const int calibrationSpeed = 10;//鏍囧畾閫熷害
-// //public const int calibrationZ = 19336;//鏍囧畾Z杞撮珮搴�
-// //public const int barcodeSpeed = 250;//鏉＄爜妫�娴嬭酱杩愬姩閫熷害
-// //public const int freeSpeed = 250;//闈炴娴嬫椂杞磋繍鍔ㄩ�熷害
-// //public const int velEnd = 0;//椋炴媿缁撴潫閫熷害
-// //public const int homeSpeed = 50;//鍥為浂閫熷害
-// //public const int loading = 80000;//涓婃枡浣嶇疆
-// #endregion
-
-// #region 鐩告満鍙傛暟
-// public static int flyExposure = Convert.ToInt32(ConfigurationManager.AppSettings["flyExposure"]);
-// public static int photoExposure = Convert.ToInt32(ConfigurationManager.AppSettings["photoExposure"]);
-// public static int codeExposure = Convert.ToInt32(ConfigurationManager.AppSettings["codeExposure"]);
-// public static int existExposure = Convert.ToInt32(ConfigurationManager.AppSettings["existExposure"]);
-// public static int holeExposure = Convert.ToInt32(ConfigurationManager.AppSettings["holeExposure"]);
-// public static int realTimeExposure = Convert.ToInt32(ConfigurationManager.AppSettings["realTimeExposure"]);
-
-// //public const int flyExposure = 200;//椋炴媿鏇濆厜
-// //public const int photoExposure = 250000;//鎷嶇収鏇濆厜
-// //public const int codeExposure = 20000;//鏉＄爜鏇濆厜
-// //public const int existExposure = 20000;//鏈夋棤妫�娴嬬殑鏇濆厜
-// #endregion
-
-// #region IO
-// /// <summary>
-// /// 杈撳叆IO榛樿鍊�
-// /// </summary>
-// public const int InDefaultValue = 0xFFDA;
-// /// <summary>
-// /// 澶圭揣姘旂几
-// /// </summary>
-// public const short EXO_1 = 100;//澶圭揣姘旂几
-// /// <summary>
-// /// 鏃ュ厜鐏�
-// /// </summary>
-// public const short EXO_2 = 101;//鏃ュ厜鐏�
-// /// <summary>
-// /// 鍏夋簮鍒囨崲
-// /// </summary>
-// public const short EXO_3 = 102;//鍏夋簮鍒囨崲
-// /// <summary>
-// /// 绾㈢伅
-// /// </summary>
-// public const short EXO_4 = 103;//绾㈢伅
-// /// <summary>
-// /// 榛勭伅
-// /// </summary>
-// public const short EXO_5 = 104;//榛勭伅
-// /// <summary>
-// /// 缁跨伅
-// /// </summary>
-// public const short EXO_6 = 105;//缁跨伅
-// /// <summary>
-// /// 铚傞福鍣�
-// /// </summary>
-// public const short EXO_7 = 106;//铚傞福鍣�
-// /// <summary>
-// /// Gocator X
-// /// </summary>
-// public const short EXO_8 = 107;//Gocator X
-
-// /// <summary>
-// /// 姝ｉ潰鍏�(宸�)
-// /// </summary>
-// public const short EXO_9 = 108;//姝ｉ潰鍏�(宸�)
-
-// /// <summary>
-// /// 姝ｉ潰鍏�(鍚�)
-// /// </summary>
-// public const short EXO_10 = 109;//姝ｉ潰鍏�(鍚�)
-
-// /// <summary>
-// /// 姝ｉ潰鍏�(鍙�)
-// /// </summary>
-// public const short EXO_11 = 110;//姝ｉ潰鍏�(鍙�)
-
-// /// <summary>
-// /// 姝ｉ潰鍏�(鍓�)
-// /// </summary>
-// public const short EXO_12 = 111;//姝ｉ潰鍏�(鍓�)
-
-// /// <summary>
-// /// Gocator Y
-// /// </summary>
-// public const short EXO_16 = 115;//Gocator Y
-
-// /// <summary>
-// /// 杈撳嚭IO榛樿鍊�
-// /// </summary>
-// public const int OutDefaultValue = 0xFFF;
-// /// <summary>
-// /// 宸﹀惎鍔�
-// /// </summary>
-// public const short EXI0 = 0;//宸﹁捣鍔�
-// /// <summary>
-// /// 鍙冲惎鍔�
-// /// </summary>
-// public const short EXI1 = 1;//鍙宠捣鍔�
-// /// <summary>
-// /// 鍋滄
-// /// </summary>
-// public const short EXI2 = 2;//鍋滄
-// /// <summary>
-// /// 澶嶄綅
-// /// </summary>
-// public const short EXI3 = 3;//澶嶄綅
-// /// <summary>
-// /// 鎬ュ仠
-// /// </summary>
-// public const short EXI4 = 4;//鎬ュ仠
-// /// <summary>
-// /// 闂ㄥ紑鍏�
-// /// </summary>
-// public const short EXI5 = 5;//闂ㄥ紑鍏�
-// /// <summary>
-// /// 瀹夊叏鍏夊箷
-// /// </summary>
-// public const short EXI6 = 6;//瀹夊叏鍏夊箷
-// public const short EXI7 = 7;//
-// /// <summary>
-// /// 澶圭揣姘旂几鍘熶綅
-// /// </summary>
-// public const short EXI8 = 8;//澶圭揣姘旂几鍘熶綅
-// /// <summary>
-// /// 澶圭揣姘旂几鍒颁綅
-// /// </summary>
-// public const short EXI9 = 9;//澶圭揣姘旂几鍒颁綅
-// #endregion
-// }
-//}
diff --git a/src/Bro.Device.GTSCard/GtsPos.cs b/src/Bro.Device.GTSCard/GtsPos.cs
deleted file mode 100644
index 8882cf2..0000000
--- a/src/Bro.Device.GTSCard/GtsPos.cs
+++ /dev/null
@@ -1,78 +0,0 @@
-锘縰sing System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace Bro.Device.GTSCard
-{
- /// <summary>
- /// 鍥洪珮鐐逛綅缁撴瀯
- /// </summary>
- public class GtsPos
- {
- /// <summary>
- /// 鐐逛綅绫诲瀷
- /// </summary>
- public PosType Type;
-
- /// <summary>
- /// 鎻掕ˉ娈� x 杞寸粓鐐瑰潗鏍囧��,鍙栧�艰寖鍥达細[-1073741823, 1073741823]锛屽崟浣嶏細pulse
- /// </summary>
- public int X;
-
- /// <summary>
- /// 鎻掕ˉ娈� y 杞寸粓鐐瑰潗鏍囧�笺�傚彇鍊艰寖鍥达細[-1073741823, 1073741823]锛屽崟浣嶏細pulse
- /// </summary>
- public int Y;
-
- /// <summary>
- /// 鎻掕ˉ娈� z 杞寸粓鐐瑰潗鏍囧�笺�傚彇鍊艰寖鍥达細[-1073741823, 1073741823]锛屽崟浣嶏細pulse
- /// </summary>
- public int Z;
-
- /// <summary>
- /// 鍦嗗姬鎻掕ˉ鐨勫渾蹇� x 鏂瑰悜鐩稿浜庤捣鐐逛綅缃殑鍋忕Щ閲忋��
- /// </summary>
- public double CenterX;
-
- /// <summary>
- /// 鍦嗗姬鎻掕ˉ鐨勫渾蹇� y 鏂瑰悜鐩稿浜庤捣鐐逛綅缃殑鍋忕Щ閲�
- /// </summary>
- public double CenterY;
-
- /// <summary>
- /// 鍦嗗姬鎻掕ˉ鐨勫渾寮у崐寰勫�笺�傚彇鍊艰寖鍥达細[-1073741823, 1073741823]锛屽崟浣嶏細pulse銆�
- /// 鍗婂緞涓烘鏃讹紝琛ㄧず鍦嗗姬涓哄皬浜庣瓑浜� 180掳鍦嗗姬銆�
- /// 鍗婂緞涓鸿礋鏃讹紝琛ㄧず鍦嗗姬涓哄ぇ浜� 180掳鍦嗗姬銆�
- /// 鍗婂緞鎻忚堪鏂瑰紡涓嶈兘鐢ㄦ潵鎻忚堪鏁村渾銆�
- /// </summary>
- public double Radius;
-
- /// <summary>
- /// 鍦嗗姬鐨勬棆杞柟鍚戙�� 0锛氶『鏃堕拡鍦嗗姬銆� 1锛氶�嗘椂閽堝渾寮�
- /// </summary>
- public short CircleDir;
-
- /// <summary>
- /// 鎻掕ˉ娈电殑鐩爣鍚堟垚閫熷害銆傚彇鍊艰寖鍥达細(0, 32767)锛屽崟浣嶏細pulse/ms銆�
- /// </summary>
- public double Vel;
-
- /// <summary>
- /// 鎻掕ˉ娈电殑鍚堟垚鍔犻�熷害銆傚彇鍊艰寖鍥达細(0, 32767)锛屽崟浣嶏細pulse/ms2銆�
- /// </summary>
- public double Acc;
-
- /// <summary>
- /// 鎻掕ˉ娈电殑缁堢偣閫熷害銆傚彇鍊艰寖鍥达細[0, 32767)锛屽崟浣嶏細pulse/ms銆�
- /// 璇ュ�煎彧鏈夊湪娌℃湁浣跨敤 鍓嶇灮棰勫鐞嗗姛鑳芥椂鎵嶆湁鎰忎箟锛屽惁鍒欒鍊兼棤鏁堛�傞粯璁ゅ�间负锛�0銆�
- /// </summary>
- public double EndVel;
-
- /// <summary>
- /// 鍏宠仈瀛楁
- /// </summary>
- public int CameraPoSq { get; set; }
- }
-}
diff --git a/src/Bro.Device.GTSCard/gts.dll b/src/Bro.Device.GTSCard/gts.dll
new file mode 100644
index 0000000..bc0d7d1
--- /dev/null
+++ b/src/Bro.Device.GTSCard/gts.dll
Binary files differ
diff --git a/src/Bro.Device.GTSCard/packages.config b/src/Bro.Device.GTSCard/packages.config
new file mode 100644
index 0000000..07e3593
--- /dev/null
+++ b/src/Bro.Device.GTSCard/packages.config
@@ -0,0 +1,4 @@
+锘�<?xml version="1.0" encoding="utf-8"?>
+<packages>
+ <package id="Newtonsoft.Json" version="11.0.2" targetFramework="net452" />
+</packages>
\ No newline at end of file
--
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