From c0d59e233882ad489f45abc8eb0193ffa4fb8988 Mon Sep 17 00:00:00 2001
From: xcd <834800634@qq.com>
Date: 星期六, 11 七月 2020 11:20:44 +0800
Subject: [PATCH] Merge branch 'master' of http://gitblit.broconcentric.com:8088/r/M071
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 152 ++++++++++++++++++++++++++++++++------------------
1 files changed, 96 insertions(+), 56 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index 240c375..3bf8ec1 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -21,7 +21,7 @@
public class GTSCardDriver : MotionCardBase
{
// 寮傚父浜嬩欢
- public Action<Exception> OnExceptionRaised;
+ //public Action<Exception> OnExceptionRaised;
public GTSCardInitialConfig IIConfig
{
@@ -61,7 +61,7 @@
{
AxisInfo axisInfo = new AxisInfo();
axisInfo.AxisName = axisSetting.AxisName;
- var axisMovingStatus = AxisMovingOptionValues.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex);
+ var axisMovingStatus = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex);
axisInfo.AxisLocation = axisMovingStatus == null ? 0 : Convert.ToDouble(axisMovingStatus.CurPosition);
axisInfos.Add(axisInfo);
@@ -96,6 +96,8 @@
protected override void Start()
{
AllAxisOn();
+
+ base.Start();
}
protected override void Stop()
@@ -162,7 +164,7 @@
// 2.鏉垮崱杩愬姩
if (CurrentState == DeviceState.DSOpen)
{
- responseMessage = MoveToPoint(operationSet.MotionOperationCollection);
+ responseMessage = MoveToPoint(new MotionOperationCollection() { MovingOps = operationSet.MovingOps });
if (!responseMessage.Result)
{
return responseMessage;
@@ -220,7 +222,7 @@
/// <summary>
/// 鍚姩绔嬪嵆鏆傚仠
/// </summary>
- public void SetImmediatePause()
+ public override void SetImmediatePause()
{
if (!_isResetting)
{
@@ -240,7 +242,7 @@
/// <summary>
/// 鎭㈠绔嬪嵆鏆傚仠
/// </summary>
- public void ResetImmediatePause()
+ public override void ResetImmediatePause()
{
var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();
@@ -362,14 +364,15 @@
{
List<short> resultCode = new List<short>() { 0 };
GTSCardAPI.TTrapPrm trapprm = new GTSCardAPI.TTrapPrm();
- resultCode.Add(GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)optionPara.AxisIndex));
- resultCode.Add(GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, (short)optionPara.AxisIndex, out trapprm));
+ short axisIndex = short.Parse(optionPara.AxisIndexStr);
+ resultCode.Add(GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, axisIndex));
+ resultCode.Add(GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, 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));
+ resultCode.Add(GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, axisIndex, ref trapprm));
+ resultCode.Add(GTSCardAPI.GT_SetVel((short)IConfig.CardNum, axisIndex, optionPara.VelocityPara.Velocity * IConfig.AxisVelocityRatio));
var resultOK = resultCode.All(u => u == (short)GTSRetCode.GRCRunOK);
if (!resultOK)
@@ -386,7 +389,7 @@
public override async Task<bool> SingleAxisMoving(MovingOption optionPara)
{
return await Task.Run(() =>
- {
+ {
axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
bool isSuccessAndStop = false;
try
@@ -458,7 +461,8 @@
{
throw new Exception("杞�" + axisNum + "鑾峰彇瑙勫垝浣嶇疆寮傚父锛岄敊璇爜锛�" + ret);
}
- position = prfpos / IConfig.AxisVelocityRatio;
+ var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum).AxisRatio;
+ position = prfpos / AxisRatio;
return position;
}
@@ -478,7 +482,8 @@
{
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;
+ var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum).AxisRatio;
+ position = pPos / AxisRatio;
return position;
}
}
@@ -487,7 +492,7 @@
/// 鑾峰彇瑙勫垝閫熷害
/// </summary>
/// <param name="axisNum">Axis number</param>
- /// <returns></returns>
+ /// <returns>閫熷害鑴夊啿</returns>
public double GetPrfVelocity(int axisNum)
{
double prfVel = 0;
@@ -497,7 +502,6 @@
{
throw new Exception("杞�" + axisNum + "鑾峰彇瑙勫垝閫熷害寮傚父锛岄敊璇爜锛�" + ret);
}
- prfVel = prfVel / IConfig.AxisVelocityRatio;
return prfVel;
}
@@ -505,7 +509,7 @@
/// 鑾峰彇褰撳墠閫熷害
/// </summary>
/// <param name="axisNum">Axis number</param>
- /// <returns></returns>
+ /// <returns>閫熷害鑴夊啿</returns>
public double GetVelocity(int axisNum)
{
double vel = 0;
@@ -514,7 +518,6 @@
{
throw new Exception("杞�" + axisNum + "鑾峰彇褰撳墠閫熷害寮傚父锛岄敊璇爜锛�" + ret);
}
- vel = vel / IConfig.AxisVelocityRatio;
return vel;
}
@@ -553,7 +556,7 @@
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -599,11 +602,12 @@
int currentPosition = (int)GetPosition(optionPara.AxisIndex);
int dPosition = optionPara.Destination + currentPosition;
int timeout = optionPara.MovingTimeout;
+ var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex).AxisRatio;
while (CurrentState == DeviceState.DSOpen)
{
//璁剧疆 杩愬姩鍙傛暟
isSuccessSetAxisParam = SetAxisParam(optionPara);
- ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition * IConfig.AxisVelocityRatio));// 璁剧疆瑙勫垝浣嶇疆
+ ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition * AxisRatio));// 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)
@@ -633,7 +637,7 @@
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -674,11 +678,12 @@
short ret = 0;
bool isSuccessSetAxisParam = false;
int timeout = optionPara.MovingTimeout;
- while (CurrentState == DeviceState.DSOpen&&!_isPause)
+ var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex).AxisRatio;
+ while (CurrentState == DeviceState.DSOpen && !_isPause)
{
//璁剧疆 杩愬姩鍙傛暟
isSuccessSetAxisParam = SetAxisParam(optionPara);
- ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(optionPara.Destination * IConfig.AxisVelocityRatio));// 璁剧疆瑙勫垝浣嶇疆
+ ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(optionPara.Destination * AxisRatio));// 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)
@@ -707,7 +712,7 @@
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -814,7 +819,7 @@
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -874,7 +879,7 @@
/// <returns></returns>
public bool IsStop(short axisNum)
{
- int sts = GetAxisStatus(axisNum);
+ int sts = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisNum).AxisStatus;
if ((sts & 0x400) == 0) return true;//鍋滄杩斿洖true
else return false; //杩愯涓繑鍥瀎alse
}
@@ -928,10 +933,10 @@
AxisMovingStatus axisMovingStatus = new AxisMovingStatus();
axisMovingStatus.AxisIndex = axisConfig.AxisIndex;
axisMovingStatus.AxisName = axisConfig.AxisName;
- axisMovingStatus.CurPosition = Convert.ToInt32(GetPosition(axisMovingStatus.AxisIndex));
+ //axisMovingStatus.CurPosition = Convert.ToInt32(GetPosition(axisMovingStatus.AxisIndex));
axisMovingStatus.Destination = Convert.ToInt32(GetPrfPosition(axisMovingStatus.AxisIndex));
- axisMovingStatus.CurVelocity = GetVelocity(axisMovingStatus.AxisIndex);
- axisMovingStatus.PrfVelocity = GetPrfVelocity(axisMovingStatus.AxisIndex);
+ //axisMovingStatus.CurVelocity = GetVelocity(axisMovingStatus.AxisIndex);
+ //axisMovingStatus.PrfVelocity = GetPrfVelocity(axisMovingStatus.AxisIndex);
axisMovingStatus.AxisStatus = GetAxisStatus(axisMovingStatus.AxisIndex);
axisMovingStatusesList.Add(axisMovingStatus);
@@ -953,7 +958,7 @@
GTSCardAPI.GT_GetDo((short)IConfig.CardNum, GTSCardAPI.MC_GPO, out outValue);
//瑙ｆ瀽缁撴灉
- for (var index = 1; index <= 16; index++)
+ for (var index = 0; index < 16; index++)
{
IOItem inItem = new IOItem()
{
@@ -984,8 +989,10 @@
{
if (!IConfig.IsEnableMonitor)
return;
+
var newValues = GetMonitorValues();
var newAxisMovingStatus = GetAxisMovingStatus();
+
if (newValues == null || newValues.Count == 0 || newAxisMovingStatus == null || newAxisMovingStatus.Count == 0)
continue;
@@ -993,12 +1000,21 @@
sw.Start();
if (MonitorValues.Count == newValues.Count)
{
- var tempNew = newValues.DeepSerializeClone();//clone
- var tempOld = MonitorValues.DeepSerializeClone();
+ //var tempNew = newValues.DeepSerializeClone();//clone
+ //var tempOld = MonitorValues.DeepSerializeClone();
+ var tempNew = new List<IOItem>(newValues);//clone
+ var tempOld = new List<IOItem>(MonitorValues);
MonitorCheckAndInvoke(tempNew, tempOld);
}
- AxisMovingOptionValues = new List<AxisMovingStatus>(newAxisMovingStatus);
+ if (AxisStatusList.Count == newAxisMovingStatus.Count)
+ {
+ var tempNew = new List<AxisMovingStatus>(newAxisMovingStatus);//clone
+ var tempOld = new List<AxisMovingStatus>(AxisStatusList);
+ AxisStatusCheck(tempNew, tempOld);
+ }
+
+ AxisStatusList = new List<AxisMovingStatus>(newAxisMovingStatus);
MonitorValues = new List<IOItem>(newValues);
sw.Stop();
@@ -1024,29 +1040,52 @@
});
}
+ private async void AxisStatusCheck(List<AxisMovingStatus> tempNew, List<AxisMovingStatus> tempOld)
+ {
+ await Task.Run(() =>
+ {
+ foreach (var newSts in tempNew)
+ {
+ var oldSts = tempOld.FirstOrDefault(u => u.AxisIndex == newSts.AxisIndex);
+ if (oldSts != null)
+ {
+ if (oldSts.AxisStatus != newSts.AxisStatus)
+ {
+ AxisStatusChanged(newSts.AxisIndex, oldSts.AxisStatus, newSts.AxisStatus);
+ }
+
+ if (((newSts.AxisStatus >> 1 & 1) == 1) && ((oldSts.AxisStatus >> 1 & 1) == 0)) //鍒濇鎶ヨ
+ {
+ AxisAlarmRaised(newSts.AxisStatus, $"杞磠newSts.AxisIndex}:{newSts.AxisName}杞翠己鏈嶆姤璀�");
+ }
+ }
+ }
+ });
+ }
+
public override void OnMethodInvoked(IAsyncResult ar)
{
- MotionCardMonitorSet monitorSet = ar.AsyncState as MotionCardMonitorSet;
- ProcessResponse resValues = monitorSet.Response;
- if (resValues.ResultValue == (int)ReplyValue.IGNORE)
- {
- return;
- }
+ //MotionCardMonitorSet monitorSet = ar.AsyncState as MotionCardMonitorSet;
+ //ProcessResponse resValues = monitorSet.Response;
+ //if (resValues.ResultValue == (int)ReplyValue.IGNORE)
+ //{
+ // return;
+ //}
- Stopwatch sw = new Stopwatch();
- sw.Start();
- // 灏嗘寚瀹欼OItem鍐欏叆鏉垮崱
- foreach (var replyIOData in monitorSet.ReplyIODatas)
- {
- //鍐欏叆IO杈撳嚭
- if (replyIOData.IOType == IOType.OUTPUT)
- {
- GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPI, (short)replyIOData.IONum, (short)replyIOData.Value);
- }
- // in鍙涓嶈兘鍐�
- }
- sw.Stop();
- LogAsync(DateTime.Now, $"{Name}鍙嶉瀹屾垚锛岃�楁椂{sw.ElapsedMilliseconds}ms", $"{resValues.GetDisplayText()}");
+ //Stopwatch sw = new Stopwatch();
+ //sw.Start();
+ //// 灏嗘寚瀹欼OItem鍐欏叆鏉垮崱
+ //foreach (var replyIOData in monitorSet.ReplyIODatas)
+ //{
+ // //鍐欏叆IO杈撳嚭
+ // if (replyIOData.IOType == IOType.OUTPUT)
+ // {
+ // GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPI, (short)replyIOData.IONum, (short)replyIOData.Value);
+ // }
+ // // in鍙涓嶈兘鍐�
+ //}
+ //sw.Stop();
+ //LogAsync(DateTime.Now, $"{Name}鍙嶉瀹屾垚锛岃�楁椂{sw.ElapsedMilliseconds}ms", $"{resValues.GetDisplayText()}");
}
protected void MonitorCheckAndInvoke(List<IOItem> tempNew, List<IOItem> tempOld)
@@ -1089,10 +1128,10 @@
monitorSet.OpConfig = new OperationConfigBase();
}
- //monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
- //{
- // return tempNew[index].Value;
- //}).ToList();
+ monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
+ {
+ return tempNew[index].Value == IOValue.TRUE ? 1 : 0;
+ }).ToList();
ExcuteMonitorInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet);
}
@@ -1108,7 +1147,8 @@
ClearStatus(1, axisSettings.Count);
foreach (var axisSetting in axisSettings)
{
- axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
+ //axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
+ axis_sts = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex).AxisStatus;
if ((axis_sts & 0x200) == 0)
{
var rst = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisSetting.AxisIndex);
--
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