From c2c4bb6ff92c85b5f9da1422cade8af355405404 Mon Sep 17 00:00:00 2001
From: wells.liu <wells.liu@broconcentric.com>
Date: 星期二, 14 七月 2020 18:10:46 +0800
Subject: [PATCH] 测量结果 界面设计开发
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 1275 +++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 995 insertions(+), 280 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index d4eea2e..a917333 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -6,7 +6,9 @@
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Collections.ObjectModel;
+using System.Diagnostics;
using System.Drawing;
+using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
@@ -16,16 +18,12 @@
namespace Bro.Device.GTSCard
{
[Device("GTSCard", "鍥洪珮鏉垮崱", EnumHelper.DeviceAttributeType.Device)]
- public class GTSCardDriver : DeviceBase, IMonitor, IMotion
+ public class GTSCardDriver : MotionCardBase
{
- 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 Action<Exception> OnExceptionRaised;
- public GTSCardInitialConfig IConfig
+ public GTSCardInitialConfig IIConfig
{
get
{
@@ -39,14 +37,36 @@
/// </summary>
bool _isResetting = false;
+ /// <summary>
+ /// 鏄惁鏆傚仠涓�
+ /// </summary>
+ bool _isPause = false;
+
+ /// <summary>
+ /// 杩愬姩杞寸珛鍗虫殏鍋�
+ /// </summary>
+ Dictionary<int, ManualResetEvent> axisImmediatePauseHandleDict = new Dictionary<int, ManualResetEvent>();
+
+ //Dictionary<int, CancellationTokenSource> axisMoveCancelDict = new Dictionary<int, CancellationTokenSource>();
+
public void SetResetFlag(bool isReset)
{
_isResetting = isReset;
}
- public List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
+ public override List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
{
- throw new NotImplementedException();
+ List<AxisInfo> axisInfos = new List<AxisInfo>();
+ IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ForEach(axisSetting =>
+ {
+ AxisInfo axisInfo = new AxisInfo();
+ axisInfo.AxisName = axisSetting.AxisName;
+ var axisMovingStatus = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex);
+ axisInfo.AxisLocation = axisMovingStatus == null ? 0 : Convert.ToDouble(axisMovingStatus.CurPosition);
+
+ axisInfos.Add(axisInfo);
+ });
+ return axisInfos;
}
#region DeviceBase
@@ -54,26 +74,193 @@
protected override void Init()
{
InitialMotionCard();
+ axisImmediatePauseHandleDict = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ToDictionary(a => a.AxisIndex, a => new ManualResetEvent(true));
+ //axisMoveCancelDict = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ToDictionary(a => a.AxisIndex, a => new CancellationTokenSource());
+
+ //axisMoveCancelDict.Values.ToList().ForEach(c =>
+ //{
+ // c = new CancellationTokenSource();
+ //});
}
protected override void Pause()
{
- throw new NotImplementedException();
+
}
protected override void Resume()
{
- throw new NotImplementedException();
+
}
protected override void Start()
{
- throw new NotImplementedException();
+ AllAxisOn();
+
+ base.Start();
}
protected override void Stop()
{
- throw new NotImplementedException();
+ AllMoveStop();
+ AllAxisOff();
+ }
+
+ /// <summary>
+ /// 璁惧 杩愯锛堟墽琛� 鏉垮崱绯诲垪鐨勬搷浣滅殑 闆嗗悎锛�
+ /// </summary>
+ /// <param name="config"></param>
+ /// <returns></returns>
+ public override ResponseMessage Run(IOperationConfig config)
+ {
+ ResponseMessage responseMessage = new ResponseMessage();
+ if (config is MotionCardOperationConfigBase motionCardOperationConfig)
+ {
+ foreach (var operationSet in motionCardOperationConfig.OperationCollection)
+ {
+ if (operationSet.DelayBefore > 0)
+ Thread.Sleep(operationSet.DelayBefore);
+
+ responseMessage = RunOperationSet(operationSet);
+ if (!responseMessage.Result)
+ {
+ return responseMessage;
+ }
+
+ if (operationSet.DelayAfter > 0)
+ Thread.Sleep(operationSet.DelayAfter);
+ }
+ }
+ return responseMessage;
+ }
+
+ /// <summary>
+ /// 鎵ц 涓�涓郴鍒楃殑鎿嶄綔
+ /// </summary>
+ private ResponseMessage RunOperationSet(MotionCardOperationSet operationSet)
+ {
+ ResponseMessage responseMessage = new ResponseMessage();
+ // 1.棰勬鏌�
+ if (CurrentState == DeviceState.DSOpen)
+ {
+ foreach (var preCheck in operationSet.PreCheckIOCollection)
+ {
+ int timeout = operationSet.PreCheckIOTimeout;
+ IOValue? ioData = null;
+ while (CurrentState == DeviceState.DSOpen)
+ {
+ Thread.Sleep(10);
+ ioData = MonitorValues.FirstOrDefault(u => u.IONum == preCheck.IOItem.IONum && u.IOType == preCheck.IOItem.IOType)?.Value;//IO 鏄紑銆佸叧 浠嶮onitorValues 鑾峰彇
+ timeout -= 10;
+ if (preCheck.CheckValue == ioData || (operationSet.PreCheckIOTimeout > 0 && timeout < 0))
+ {
+ break;
+ }
+ }
+
+ if (preCheck.CheckValue != ioData)
+ {
+ responseMessage.Result = false;
+ responseMessage.Message = $"棰勬鏌ヤ笉閫氳繃锛岄厤缃細{preCheck.GetDisplayText()}锛屽綋鍓嶅�硷細{ioData}";
+ return responseMessage;
+ }
+ }
+ }
+
+ // 2.鏉垮崱杩愬姩
+ if (CurrentState == DeviceState.DSOpen)
+ {
+ responseMessage = MoveToPoint(new MotionOperationCollection() { MovingOps = operationSet.MovingOps });
+ if (!responseMessage.Result)
+ {
+ return responseMessage;
+ }
+ }
+
+
+ // 3.IO杈撳嚭 涓嶉渶瑕佽秴鏃�
+ if (CurrentState == DeviceState.DSOpen)
+ {
+ foreach (var ioOutput in operationSet.IOOutputCollection)
+ {
+ WriteOutput((short)ioOutput.IOItem.IONum, ioOutput.CheckValue);
+
+ //var ioData = MonitorValues.FirstOrDefault(u => u.IONum == ioOutput.IOItem.IONum && u.IOType == ioOutput.IOItem.IOType)?.Value;//IO 鏄紑銆佸叧 浠嶮onitorValues 鑾峰彇
+
+ //if (ioOutput.CheckValue != ioData)
+ //{
+ // responseMessage.Result = false;
+ // responseMessage.Message = $"IO杈撳嚭涓嶉�氳繃锛岄厤缃細{ioOutput.GetDisplayText()}锛屽綋鍓嶅�硷細{ioData}";
+ // return responseMessage;
+ //}
+ }
+ }
+
+ // 4.IO纭
+ if (CurrentState == DeviceState.DSOpen)
+ {
+ foreach (var ioConfirm in operationSet.IOConfirmCollection)
+ {
+ int timeout = operationSet.IOConfirmTimeout;
+ IOValue? ioData = null;
+ while (CurrentState == DeviceState.DSOpen)
+ {
+ Thread.Sleep(10);
+ ioData = MonitorValues.FirstOrDefault(u => u.IONum == ioConfirm.IOItem.IONum && u.IOType == ioConfirm.IOItem.IOType)?.Value;//IO 鏄紑銆佸叧 浠嶮onitorValues 鑾峰彇
+ timeout -= 10;
+ if (ioConfirm.CheckValue == ioData || (operationSet.IOConfirmTimeout > 0 && timeout < 0))
+ {
+ break;
+ }
+ }
+
+ if (ioConfirm.CheckValue != ioData)
+ {
+ responseMessage.Result = false;
+ responseMessage.Message = $"IO纭涓嶉�氳繃锛岄厤缃細{ioConfirm.GetDisplayText()}锛屽綋鍓嶅�硷細{ioData}";
+ return responseMessage;
+ }
+ }
+ }
+
+ return responseMessage;
+ }
+ #endregion
+
+ #region ImmediatePause
+ /// <summary>
+ /// 鍚姩绔嬪嵆鏆傚仠
+ /// </summary>
+ public override void SetImmediatePause()
+ {
+ if (!_isResetting)
+ {
+ var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();
+
+ immediatePauseAxis.ForEach(async axisIndex =>
+ {
+ axisImmediatePauseHandleDict[axisIndex].Reset();
+
+ //axisMoveCancelDict[axisIndex].Cancel();
+
+ await MoveStop(axisIndex, 0);//鎵�鏈夎酱閮芥殏鍋�
+ });
+ }
+ }
+
+ /// <summary>
+ /// 鎭㈠绔嬪嵆鏆傚仠
+ /// </summary>
+ public override void ResetImmediatePause()
+ {
+ var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();
+
+ immediatePauseAxis.ForEach(axisIndex =>
+ {
+ //axisMoveCancelDict[axisIndex] = new CancellationTokenSource();
+
+ axisImmediatePauseHandleDict[axisIndex].Set();
+ });
}
#endregion
@@ -88,11 +275,66 @@
{
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);
+ ClearStatus(1, IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled).Count);
if (res != (short)GTSRetCode.GRCRunOK)
{
- throw new Exception("鏉垮崱杞藉叆閰嶇疆鏂囦欢寮傚父锛岄敊璇爜锛�" + res);
+ throw new ProcessException("鏉垮崱杞藉叆閰嶇疆鏂囦欢寮傚父锛岄敊璇爜锛�" + res);
}
+ }
+
+
+ public override bool AllAxisOn()
+ {
+ List<Task<bool>> taskList = new List<Task<bool>>(); ;
+ // 濡傛灉鏄涓酱鐨勮繍鍔� 绛夋瘡涓酱寮�鍚�
+ IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ForEach(axisNum =>
+ {
+ var task = AxisOnAsync(axisNum.AxisIndex);
+ taskList.Add(task);
+ });
+ Task.WaitAll(taskList.ToArray());
+ var resultOK = taskList.All(u => u.GetAwaiter().GetResult());
+ return resultOK;
+ }
+
+ public override bool AllAxisOff()
+ {
+ List<Task<bool>> taskList = new List<Task<bool>>(); ;
+ // 濡傛灉鏄涓酱鐨勮繍鍔� 绛夋瘡涓酱鍏抽棴
+ IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ForEach(axisNum =>
+ {
+ var task = AxisOffAsync(axisNum.AxisIndex);
+ taskList.Add(task);
+ });
+ Task.WaitAll(taskList.ToArray());
+ var resultOK = taskList.All(u => u.GetAwaiter().GetResult());
+ return resultOK;
+ }
+
+ /// <summary>
+ /// 鍗曚釜杞村紑鍚�
+ /// </summary>
+ /// <returns></returns>
+ public override async Task<bool> AxisOnAsync(int axisNum)
+ {
+ return await Task.Run(() =>
+ {
+ var ret = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisNum);
+ return ret == (short)GTSRetCode.GRCRunOK;
+ });
+ }
+
+ /// <summary>
+ /// 鍗曚釜杞村叧闂�
+ /// </summary>
+ /// <returns></returns>
+ public override async Task<bool> AxisOffAsync(int axisNum)
+ {
+ return await Task.Run(() =>
+ {
+ var ret = GTSCardAPI.GT_AxisOff((short)IConfig.CardNum, (short)axisNum);
+ return ret == (short)GTSRetCode.GRCRunOK;
+ });
}
/// <summary>
@@ -100,106 +342,139 @@
/// </summary>
/// <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)
+ public override ResponseMessage 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)
+ ResponseMessage responseMessage = new ResponseMessage();
+ if (opConfig is MotionOperationCollection gtsOperationCollection)
{
- //var task = factory.StartNew<bool>((op) =>
+ //List<Task<bool>> taskList = new List<Task<bool>>();
+ //foreach (var movingOp in gtsOperationCollection.MovingOps)
//{
- // return SingleAxisMoving(op as MovingOption);
- //}, movingOp);
- var task = SingleAxisMoving(movingOp);
- taskList.Add(task);
- }
- Task.WaitAll(taskList.ToArray());
- resultOK = taskList.All(u => u.GetAwaiter().GetResult());
+ // var task = SingleAxisMoving(movingOp);
+ // taskList.Add(task);
+ // task.Start();
+ //}
+ //Task.WaitAll(taskList.ToArray());
+ //responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
- return resultOK;
+ List<bool> resultList = new List<bool>();
+ Parallel.ForEach(gtsOperationCollection.MovingOps, movingOp =>
+ {
+ resultList.Add(SingleAxisMoving(movingOp).Result);
+ });
+ responseMessage.Result = resultList.All(u => u == true);
+ if (!responseMessage.Result)
+ {
+ responseMessage.Message = $"鐐逛綅杩愬姩寮傚父";
+ }
+ }
+ return responseMessage;
}
/// <summary>
- /// Set AxisParam
+ /// 鐐瑰埌鐐硅繍鍔ㄨ缃弬鏁�
/// </summary>
/// <param name="optionPara">杩愬姩鍙傛暟瀵硅薄</param>
/// <returns></returns>
private bool SetAxisParam(MovingOption optionPara)
{
List<short> resultCode = new List<short>() { 0 };
- GTSCardAPI.TTrapPrm trapprm;
- resultCode.Add(GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)optionPara.AxisIndex));
- resultCode.Add(GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, (short)optionPara.AxisIndex, out trapprm));
+ GTSCardAPI.TTrapPrm trapprm = new GTSCardAPI.TTrapPrm();
+ 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));
+ if (optionPara.VelocityPara.Acc != 0)
+ {
+ trapprm.acc = optionPara.VelocityPara.Acc;
+ }
+
+ if (optionPara.VelocityPara.Dec != 0)
+ {
+ trapprm.dec = optionPara.VelocityPara.Dec;
+ }
+
+ resultCode.Add(GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, axisIndex, ref trapprm));
+
+ if (optionPara.VelocityPara.Velocity != 0)
+ {
+ 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)
{
- throw new Exception("杞�" + optionPara.AxisIndex + "璁剧疆鍙傛暟寮傚父锛岄敊璇爜锛�" + string.Join(",", resultCode));
+ throw new ProcessException("杞�" + optionPara.AxisIndex + "璁剧疆鍙傛暟寮傚父锛岄敊璇爜锛�" + string.Join(",", resultCode));
}
return resultOK;
}
+ TaskFactory taskFactory = new TaskFactory(TaskCreationOptions.LongRunning, TaskContinuationOptions.LongRunning);
/// <summary>
- /// 鍗曚釜杞� 鐐逛綅鍒扮偣浣嶈繍鍔�
+ /// 鍗曚釜杞� 杩愬姩(鐐瑰埌鐐� jog 鍥為浂...锛�
/// </summary>
/// <param name="optionPara">杩愬姩鍙傛暟瀵硅薄</param>
- public async Task<bool> SingleAxisMoving(MovingOption optionPara)
+ public override 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();
+ return Task.Run(() =>
+ {
+ axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
+ bool isSuccessAndStop = false;
+ try
+ {
+ if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
+ {
+ // string _position = "";
+ string motionType = optionPara.MoveMode == EnumHelper.MotionMode.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},";
+ // _position = $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff},{optionPara.AxisIndex},{motionType},{GetPosition(optionPara.AxisIndex)},{GetPrfPosition(optionPara.AxisIndex)},{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;
- });
+ switch (optionPara.MoveMode)
+ {
+ case MotionMode.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;
+ }
+
+ if (optionPara.IsAbsolute)
+ {
+ isSuccessAndStop = P2PMoveAbs(optionPara);
+ }
+ else
+ {
+ isSuccessAndStop = P2PMoveRel(optionPara);
+ }
+
+ }
+ break;
+ case MotionMode.FindOri:
+ {
+ //isSuccessAndStop = GoHome(optionPara);
+ isSuccessAndStop = P2PGoHome(optionPara);
+ }
+ break;
+ case MotionMode.Jog:
+ {
+ isSuccessAndStop = JogMove(optionPara);
+ }
+ break;
+ }
+ //_position += $"{GetPosition(optionPara.AxisIndex)},";
+ //_position += $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}";
+ //LogAsync(DateTime.Now, "", _position);
+ }
+ }
+ catch (Exception ex)
+ {
+ isSuccessAndStop = false;
+ LogAsync(DateTime.Now, $"杞磠optionPara.AxisIndex}杩愬姩寮傚父", ex.GetExceptionMessage());
+ }
+ return isSuccessAndStop;
+ });
}
/// <summary>
@@ -209,18 +484,16 @@
/// <returns></returns>
public double GetPrfPosition(int axisNum)
{
- lock (moveLock)
+ double position = 0;
+ double prfpos = 0; uint pclock = 0;
+ var ret = GTSCardAPI.GT_GetPrfPos((short)IConfig.CardNum, (short)axisNum, out prfpos, 1, out pclock);
+ if (ret != (short)GTSRetCode.GRCRunOK)
{
- double position = 0;
- double prfpos = 0; uint pclock = 0;
- var ret = GTSCardAPI.GT_GetPrfPos((short)IConfig.CardNum, (short)axisNum, out prfpos, 1, out pclock);
- if (ret != (short)GTSRetCode.GRCRunOK)
- {
- throw new Exception("杞�" + axisNum + "鑾峰彇瑙勫垝浣嶇疆寮傚父锛岄敊璇爜锛�" + ret);
- }
- position = prfpos / IConfig.AxisVelocityRatio;
- return position;
+ throw new ProcessException("杞�" + axisNum + "鑾峰彇瑙勫垝浣嶇疆寮傚父锛岄敊璇爜锛�" + ret);
}
+ //var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum).AxisRatio;
+ position = prfpos;
+ return position;
}
/// <summary>
@@ -233,17 +506,50 @@
lock (moveLock)
{
double position = 0;
- int pPos = 0;
- var ret = GTSCardAPI.GT_GetPos((short)IConfig.CardNum, (short)axisNum, out pPos);
+ double pPos = 0;
+ var ret = GTSCardAPI.GT_GetPrfPos((short)IConfig.CardNum, (short)axisNum, out pPos, 1, out uint pclock);
if (ret != (short)GTSRetCode.GRCRunOK)
{
- throw new Exception("杞�" + axisNum + "鑾峰彇鐩爣浣嶇疆寮傚父锛岄敊璇爜锛�" + ret);
+ throw new ProcessException("杞�" + axisNum + "鑾峰彇鐩爣浣嶇疆寮傚父锛岄敊璇爜锛�" + ret);
}
- 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;
return position;
}
}
+ /// <summary>
+ /// 鑾峰彇瑙勫垝閫熷害
+ /// </summary>
+ /// <param name="axisNum">Axis number</param>
+ /// <returns>閫熷害鑴夊啿</returns>
+ public double GetPrfVelocity(int axisNum)
+ {
+ double prfVel = 0;
+ uint pclock = 0;
+ var ret = GTSCardAPI.GT_GetPrfVel((short)IConfig.CardNum, (short)axisNum, out prfVel, 1, out pclock);
+ if (ret != (short)GTSRetCode.GRCRunOK)
+ {
+ throw new ProcessException("杞�" + axisNum + "鑾峰彇瑙勫垝閫熷害寮傚父锛岄敊璇爜锛�" + ret);
+ }
+ return prfVel;
+ }
+
+ /// <summary>
+ /// 鑾峰彇褰撳墠閫熷害
+ /// </summary>
+ /// <param name="axisNum">Axis number</param>
+ /// <returns>閫熷害鑴夊啿</returns>
+ public double GetVelocity(int axisNum)
+ {
+ double vel = 0;
+ var ret = GTSCardAPI.GT_GetVel((short)IConfig.CardNum, (short)axisNum, out vel);
+ if (ret != (short)GTSRetCode.GRCRunOK)
+ {
+ throw new ProcessException("杞�" + axisNum + "鑾峰彇褰撳墠閫熷害寮傚父锛岄敊璇爜锛�" + ret);
+ }
+ return vel;
+ }
/// <summary>
/// Set Single Axis Do Jog Move
@@ -252,43 +558,37 @@
/// <param name="nDirection">Motion Direction 0: Negative, 1: Positive</param>
/// <param name="nMaxVel">max velocity</param>
/// <returns></returns>
- public bool StartJog(int axisNum, int nDirection, int velocity)
+ public bool JogMove(MovingOption optionPara)
{
- GTSCardAPI.TJogPrm jogprm = new GTSCardAPI.TJogPrm();
- short rtn = GTSCardAPI.GT_PrfJog((short)IConfig.CardNum, (short)axisNum);
- jogprm.acc = 1;
- jogprm.dec = 1;
- GTSCardAPI.GT_SetJogPrm((short)IConfig.CardNum, (short)axisNum, ref jogprm);//璁剧疆jog杩愬姩鍙傛暟
- GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)axisNum, velocity);//璁剧疆鐩爣閫熷害
- int ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (axisNum - 1));//鏇存柊杞磋繍鍔�
-
- if (ret != (int)GTSRetCode.GRCRunOK)
+ try
{
+ GTSCardAPI.TJogPrm jogprm = new GTSCardAPI.TJogPrm();
+ short ret = 0;
+ int repeatTime = 100;
+ do
+ {
+ ret = GTSCardAPI.GT_PrfJog((short)IConfig.CardNum, (short)optionPara.AxisIndex);
+ jogprm.acc = optionPara.VelocityPara.Acc;
+ jogprm.dec = optionPara.VelocityPara.Dec;
+ ret = GTSCardAPI.GT_SetJogPrm((short)IConfig.CardNum, (short)optionPara.AxisIndex, ref jogprm);//璁剧疆jog杩愬姩鍙傛暟
+ ret = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)optionPara.AxisIndex, optionPara.VelocityPara.Velocity);//璁剧疆鐩爣閫熷害
+ ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//鏇存柊杞磋繍鍔�
+
+ if (ret != (short)GTSRetCode.GRCRunOK)
+ {
+ LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "JogMove寮傚父", "閿欒鐮侊細" + ret + ";" + "閲嶈瘯娆℃暟锛�" + repeatTime);
+ Thread.Sleep(10);
+ }
+ repeatTime--;
+ } while (ret != (short)GTSRetCode.GRCRunOK && repeatTime > 0);
+ return (ret == (short)GTSRetCode.GRCRunOK);
+ }
+ catch (Exception ex)
+ {
+ AllMoveStop(true);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
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>
@@ -297,14 +597,14 @@
/// <param name="axisNum">AxisNo</param>
/// <param name="nDistance">run distance</param>
/// <returns></returns>
- public bool MoveRel(MovingOption optionPara)
+ public bool P2PMoveRel(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");
+ throw new ProcessException("杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄥ浣嶈繃绋嬩腑杩愬姩");
}
int repeatTime = 30;
@@ -323,17 +623,21 @@
if (CurrentState != EnumHelper.DeviceState.DSOpen)
{
LogAsync(DateTime.Now, "闈炴甯哥姸鎬佸紓甯�", "杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄩ潪姝ｅ父鐘舵�佽繍鍔�");
- throw new Exception("杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄩ潪姝ｅ父鐘舵�佽繍鍔�", null);
+ throw new ProcessException("杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄩ潪姝ｅ父鐘舵�佽繍鍔�", null);
}
LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "寮�濮嬭繍鍔�", "鐩爣鍧愭爣锛�" + optionPara.Destination);
short ret = 0;
- repeatTime = 1000;
+ bool isSuccessSetAxisParam = false;
int currentPosition = (int)GetPosition(optionPara.AxisIndex);
int dPosition = optionPara.Destination + currentPosition;
- do
+ 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)
{
- ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition * IConfig.AxisVelocityRatio));// 璁剧疆瑙勫垝浣嶇疆
+ //璁剧疆 杩愬姩鍙傛暟
+ isSuccessSetAxisParam = SetAxisParam(optionPara);
+ ret = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition));// 璁剧疆鐩殑浣嶇疆
ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//鏇存柊杩愬姩
if (ret != (short)GTSRetCode.GRCRunOK)
@@ -341,16 +645,20 @@
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);
+ timeout -= 50;
+ if ((ret == (short)GTSRetCode.GRCRunOK && isSuccessSetAxisParam) || (optionPara.MovingTimeout > 0 && timeout < 0))
+ {
+ break;
+ }
+ }
//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);
+ isStop = IsStop((short)optionPara.AxisIndex);
repeatTime--;
} while (!isStop && repeatTime > 0);
@@ -359,7 +667,7 @@
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
@@ -368,14 +676,16 @@
/// 缁濆浣嶇疆杩愬姩
/// </summary>
/// <param name="optionPara">杩愬姩鍙傛暟瀵硅薄</param>
- public bool MoveAbs(MovingOption optionPara)
+ public bool P2PMoveAbs(MovingOption optionPara)
{
try
{
+ axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
+
if (_isResetting)
{
LogAsync(DateTime.Now, "澶嶄綅杩囩▼寮傚父", "杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄥ浣嶈繃绋嬩腑杩愬姩");
- throw new Exception("杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄥ浣嶈繃绋嬩腑杩愬姩");
+ throw new ProcessException("杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄥ浣嶈繃绋嬩腑杩愬姩");
}
int repeatTime = 30;
while (CurrentState != EnumHelper.DeviceState.DSOpen && repeatTime > 0)
@@ -392,14 +702,18 @@
if (CurrentState != EnumHelper.DeviceState.DSOpen)
{
LogAsync(DateTime.Now, "闈炴甯哥姸鎬佸紓甯�", "杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄩ潪姝ｅ父鐘舵�佽繍鍔�");
- throw new Exception("杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄩ潪姝ｅ父鐘舵�佽繍鍔�", null);
+ throw new ProcessException("杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄩ潪姝ｅ父鐘舵�佽繍鍔�", null);
}
LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "寮�濮嬭繍鍔�", "鐩爣鍧愭爣锛�" + optionPara.Destination);
short ret = 0;
- repeatTime = 1000;
- do
+ bool isSuccessSetAxisParam = false;
+ 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 && !_isPause)
{
- ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(optionPara.Destination * IConfig.AxisVelocityRatio));// 璁剧疆瑙勫垝浣嶇疆
+ //璁剧疆 杩愬姩鍙傛暟
+ isSuccessSetAxisParam = SetAxisParam(optionPara);
+ ret = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(optionPara.Destination));// 璁剧疆鐩爣浣嶇疆
ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//鏇存柊杩愬姩
if (ret != (short)GTSRetCode.GRCRunOK)
@@ -407,120 +721,247 @@
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);
+ timeout -= 50;
+ if ((ret == (short)GTSRetCode.GRCRunOK && isSuccessSetAxisParam) || (optionPara.MovingTimeout > 0 && timeout < 0))
+ {
+ break;
+ }
+ }
bool isStop = false;
repeatTime = 1000;
- do
+ while (!isStop && repeatTime > 0)
{
- isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
Thread.Sleep(50);
+ isStop = IsStop((short)optionPara.AxisIndex);
repeatTime--;
- } while (!isStop && repeatTime > 0);
+ }
return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
}
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
/// <summary>
- /// 杩愬姩鍋滄
+ /// 鏌愪釜杞磋繍鍔ㄥ仠姝�
/// </summary>
/// <param name="axisNum">axisNo</param>
/// <param name="option">0琛ㄧず骞虫粦鍋滄锛�1琛ㄧず绱ф�ュ仠姝�</param>
/// <returns></returns>
- public void MoveStop(int axisNum, int option)
+ public override async Task<bool> MoveStop(int axisNum, int option)
{
- if (option == 1)
+ return await Task.Run(() =>
{
- StateChange(EnumHelper.DeviceState.DSExcept);
- }
- var ret = GTSCardAPI.GT_Stop((short)IConfig.CardNum, 1 << (axisNum - 1), option);
- if (ret != (short)GTSRetCode.GRCRunOK)
- {
- LogAsync(DateTime.Now, "杞�" + axisNum + "杩愬姩鍋滄寮傚父", "閿欒鐮侊細" + ret);
- throw new Exception("杞�" + axisNum + "杩愬姩鍋滄寮傚父锛岄敊璇爜锛�" + ret);
- }
- else
- {
- LogAsync(DateTime.Now, "杞�" + axisNum + "杩愬姩鍋滄", "");
- }
+ bool isStop = false;
+ if (option == 1)
+ {
+ StateChange(EnumHelper.DeviceState.DSExcept);
+ }
+ var ret = GTSCardAPI.GT_Stop((short)IConfig.CardNum, 1 << (axisNum - 1), option);
+ if (ret != (short)GTSRetCode.GRCRunOK)
+ {
+ LogAsync(DateTime.Now, "杞�" + axisNum + "杩愬姩鍋滄寮傚父", "閿欒鐮侊細" + ret);
+ throw new ProcessException("杞�" + axisNum + "杩愬姩鍋滄寮傚父锛岄敊璇爜锛�" + ret);
+ }
+ else
+ {
+ LogAsync(DateTime.Now, "杞�" + axisNum + "杩愬姩鍋滄", "");
+ }
+ int repeatTime = 100;
+ do
+ {
+ Thread.Sleep(10);
+ isStop = IsStop((short)axisNum);
+ repeatTime--;
+ } while (!isStop && repeatTime > 0);
+
+ return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
+ });
}
/// <summary>
- /// 鎵�鏈夊紑鍚殑杞村叧闂�
+ /// 鎵�鏈夊紑鍚殑杞村仠姝�
/// </summary>
/// <param name="emergencyStop"></param>
public void AllMoveStop(bool emergencyStop = false)
{
int option = emergencyStop ? 1 : 0;
-
+ List<Task<bool>> taskList = new List<Task<bool>>(); ;
+ // 濡傛灉鏄涓酱鐨勮繍鍔� 绛夋瘡涓酱杩愬姩缁撴潫
IConfig.AxisSettings.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>
{
- MoveStop(axisNum.AxisIndex, option);
+ var task = MoveStop(axisNum.AxisIndex, option);
+ taskList.Add(task);
});
+ Task.WaitAll(taskList.ToArray());
+ var resultOK = taskList.All(u => u.GetAwaiter().GetResult());
}
+ ///// <summary>
+ ///// 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
+ // {
+ // PositionReset(movingOption.AxisIndex, 1);
+ // GTSCardAPI.THomePrm thomeprm;
+ // GTSCardAPI.THomeStatus homests;
+ // // 鍚姩Home鎹曡幏
+ // short rtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
+ // // 鍒囨崲鍒扮偣浣嶈繍鍔ㄦā寮�
+ // rtn = GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)movingOption.AxisIndex);
+ // // 璇诲彇鐐逛綅妯″紡杩愬姩鍙傛暟
+ // rtn = GTSCardAPI.GT_GetHomePrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out thomeprm);
+
+ // thomeprm.mode = movingOption.GoHomePara.HomeMode;//鍥為浂鏂瑰紡
+ // thomeprm.moveDir = movingOption.GoHomePara.HomeDir;//鍥為浂鏂瑰悜
+ // thomeprm.edge = movingOption.GoHomePara.Edge;
+ // 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;//鎼滅储璺濈
+ // thomeprm.homeOffset = movingOption.GoHomePara.HomeOffset; //鍋忕Щ璺濈
+ // thomeprm.escapeStep = movingOption.GoHomePara.EscapeStep;
+ // rtn = GTSCardAPI.GT_GoHome((short)IConfig.CardNum, (short)movingOption.AxisIndex, ref thomeprm); //鍚姩鍥為浂
+
+ // 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);
+ // PositionReset(movingOption.AxisIndex, 1);
+ // }
+ // repeatTime--;
+ // } while (!isStop && repeatTime > 0);
+
+ // return isStop;
+ // }
+ // catch (Exception ex)
+ // {
+ // AllMoveStop(true);
+ // OnExceptionOccured?.Invoke(DateTime.Now, ex);
+ // return false;
+ // }
+ //}
+
/// <summary>
- /// 鍥炲師鐐�
+ /// P2P鏂瑰紡鍥炲師鐐�
/// </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)
+ /// <param name="movingOption">杩愬姩鍙傛暟</param>
+ public bool P2PGoHome(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
+ StartCapture:
+ PositionReset(movingOption.AxisIndex, 1);
+ ClearStatus(movingOption.AxisIndex, 1);
+
+ GTSCardAPI.TTrapPrm trapPrm;
bool isStop = false;
+ //鎼滅储璺濈 闃舵1
+ // 鍚姩Home鎹曡幏
+ short sRtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
+ // 鍒囨崲鍒扮偣浣嶈繍鍔ㄦā寮�
+ sRtn = GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)movingOption.AxisIndex);
+ // 璇诲彇鐐逛綅妯″紡杩愬姩鍙傛暟
+ sRtn = GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out trapPrm);
+ trapPrm.acc = movingOption.VelocityPara.Acc;
+ trapPrm.dec = movingOption.VelocityPara.Dec;
+ // 璁剧疆鐐逛綅妯″紡杩愬姩鍙傛暟
+ sRtn = GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, ref trapPrm);
+ // 璁剧疆鐐逛綅妯″紡鐩爣閫熷害锛屽嵆鍥炲師鐐归�熷害
+ sRtn = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)movingOption.AxisIndex, movingOption.GoHomePara.HighVelocity);
+
+ // 璁剧疆鐐逛綅妯″紡鐩爣浣嶇疆锛屽嵆鍘熺偣鎼滅储璺濈
+ sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, movingOption.GoHomePara.HomeDir == 1 ? 99999999 : -99999999);
+ // 鍚姩杩愬姩
+ sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
+
int repeatTime = 1000;
+ short capture;
+ int pos;
+ uint clk;//鏃堕挓鍙傛暟
do
{
- Thread.Sleep(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);
- }
+ Thread.Sleep(20);
+ // 璇诲彇鎹曡幏鐘舵��
+ GTSCardAPI.GT_GetCaptureStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out capture, out pos, 1, out clk);
+ isStop = IsStop((short)movingOption.AxisIndex);
repeatTime--;
- } while (!isStop && repeatTime > 0);
+ } while (!(isStop || capture == 1 || repeatTime <= 0));
- return isStop;
+ if (repeatTime <= 0)
+ {
+ MoveStop((short)movingOption.AxisIndex, 0);
+ throw new ProcessException($"杩愬姩杞磠movingOption.AxisIndex} 锛屽洖鍘熺偣瓒呮椂寮傚父");
+ }
+
+ if (isStop && capture != 1)
+ {
+ ClearStatus((short)movingOption.AxisIndex, 1);
+
+ var axisStatus = AxisStatusList.FirstOrDefault(u => u.AxisIndex == movingOption.AxisIndex);
+
+ if (((axisStatus.AxisStatus & 0x20) != 0) || ((axisStatus.AxisStatus & 0x40) != 0))
+ {
+ movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);
+ goto StartCapture;
+ }
+
+ throw new ProcessException($"杩愬姩杞磠movingOption.AxisIndex} 锛屽洖鍘熺偣瓒呮椂寮傚父");
+ }
+
+ if (capture == 1)
+ {
+ //鍏坰top
+ MoveStop((short)movingOption.AxisIndex, 0);
+ ClearStatus((short)movingOption.AxisIndex, 1);
+ //宸茬粡鎹曡幏鍒癏ome鎵嶅彲浠ュ洖闆� 闃舵2
+ // 杩愬姩鍒�"鎹曡幏浣嶇疆+鍋忕Щ閲�"
+ sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, pos + movingOption.GoHomePara.HomeOffset);
+ // 鍦ㄨ繍鍔ㄧ姸鎬佷笅鏇存柊鐩爣浣嶇疆
+ sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
+ isStop = false;
+
+ repeatTime = 1000;
+ do
+ {
+ Thread.Sleep(20);
+ isStop = IsStop((short)movingOption.AxisIndex);
+ repeatTime--;
+ } while (!isStop && repeatTime > 0);
+ PositionReset(movingOption.AxisIndex, 1);
+ return (sRtn == (short)GTSRetCode.GRCRunOK) && isStop;
+ }
+ return false;
}
catch (Exception ex)
{
AllMoveStop(true);
- OnExceptionRaised?.Invoke(ex);
+ OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
}
}
/// <summary>
- /// 璇诲彇杈撳叆
+ /// 璇诲彇IO杈撳叆
/// </summary>
/// <param name="cardNum">鍗″彿</param>
/// <param name="index">杈撳叆鍙�</param>
@@ -529,80 +970,41 @@
{
int value;
GTSCardAPI.GT_GetDi(cardNum, GTSCardAPI.MC_GPI, out value);
- if ((value & 1 << index) == 0) return true;//鏈夎緭鍏ヨ繑鍥瀟rue
+ if ((value & (1 << index)) == 0) return true;//鏈夎緭鍏ヨ繑鍥瀟rue
else return false; //鏃犺緭鍏ヨ繑鍥瀎alse
}
/// <summary>
- /// 杈撳嚭
+ /// 璇诲彇IO杈撳嚭
/// </summary>
- /// <param name="cardNum">鍗″彿</param>
- /// <param name="index">杈撳嚭鍙�,杩斿洖1-16</param>
- /// <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);
- if (value)
- {
- GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 0);
- }
- else
- {
- GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 1);
- }
- }
-
- /// <summary>
- /// 鍋滄 鏌愪釜杞�
- /// </summary>
- /// <param name="cardNum"></param>
- /// <param name="axisNum">杞村彿</param>
- /// <param name="value">鍋滄鏂瑰紡锛宖alse琛ㄧず骞虫粦鍋滄锛宼rue琛ㄧず绱ф�ュ仠姝�</param>
- public void Stop(short cardNum, short axisNum, bool emergencyStop)
- {
- if (emergencyStop)
- {
- GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 1 << (axisNum - 1));
- }
- else
- {
- GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 0);
- }
- }
-
- /// <summary>
- /// IO杈撳嚭
- /// </summary>
- /// <param name="cardNum">鍗″彿</param>
- /// <param name="mdl">妯″潡鍙�</param>
- /// <param name="index">IO杈撳嚭</param>
- /// <param name="value">true琛ㄧず杈撳嚭锛宖alse琛ㄧず鏃犺緭鍑�</param>
- public void MC_WriteDigitalOutput(short cardNum, short mdl, short index, bool value)
- {
- if (value)
- {
- GTSCardAPI.GT_SetExtIoBit(cardNum, mdl, index, 0);
- }
- else
- {
- GTSCardAPI.GT_SetExtIoBit(cardNum, mdl, index, 1);
- }
- }
-
- /// <summary>
- /// 璇诲彇IO杈撳嚭鐘舵��
- /// </summary>
- /// <param name="cardNum"></param>
- /// <param name="index"></param>
+ /// <param name="index">io绱㈠紩</param>
/// <returns></returns>
- public bool GetDoSts(short cardNum, short index)
+ public bool GetDoSts(short index)
{
- short outNum = 0;
int outSts;
- outNum = (short)(index % 100);
- GTSCardAPI.GT_GetDo(cardNum, GTSCardAPI.MC_GPO, out outSts);
+ short outNum = (short)(index % 100);
+ GTSCardAPI.GT_GetDo((short)IConfig.CardNum, GTSCardAPI.MC_GPO, out outSts);
if ((outSts & (1 << outNum)) == 0) return true;
else return false;
+ }
+
+ /// <summary>
+ /// 鎸変綅璁剧疆鏁板瓧 IO 杈撳嚭鐘舵��
+ /// </summary>
+ /// <param name="index">杈撳嚭鍙�,杩斿洖1-16</param>
+ /// <param name="value">false琛ㄧず鍏筹紝true琛ㄧず寮�锛屾澘鍗¤璁剧疆鍙栧弽</param>
+ public override void WriteOutput(short index, IOValue value)
+ {
+ short outNum = (short)(index % 100 + 1);
+ if ((int)value <= 1)
+ {
+ GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, IConfig.IsOutputReversed ? (short)(value == IOValue.TRUE ? 0 : 1) : (short)value);
+ }
+ else
+ {
+ var currentValue = (int)MonitorValues.FirstOrDefault(u => u.IONum == outNum && u.IOType == IOType.OUTPUT).Value;
+ GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)(currentValue == 1 ? 0 : 1));
+ }
}
/// <summary>
@@ -611,30 +1013,343 @@
/// <param name="cardNum">鏉垮崱鍙�</param>
/// <param name="axisNum">杞村彿</param>
/// <returns></returns>
- public bool IsStop(short cardNum, short axisNum)
+ public bool IsStop(short axisNum)
+ {
+ int sts = 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
+ }
+
+ /// <summary>
+ /// 璇诲彇杞寸姸鎬�
+ /// </summary>
+ /// <param name="axisNum">杞村彿</param>
+ /// <returns></returns>
+ public override int GetAxisStatus(int axisNum)
{
lock (moveLock)
{
int sts = 0;
uint pclock = 0;
- GTSCardAPI.GT_GetSts(cardNum, axisNum, out sts, 1, out pclock);
- if ((sts & 0x400) == 0) return true;//鍋滄杩斿洖true
- else return false; //杩愯涓繑鍥瀎alse
+ GTSCardAPI.GT_GetSts((short)IConfig.CardNum, (short)axisNum, out sts, 1, out pclock);
+ return sts;
+ }
+ }
+
+ public override bool ClearStatus(int startAxisIndex, int count)
+ {
+ var rtn = GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, (short)startAxisIndex, (short)count);
+ return rtn == (short)GTSRetCode.GRCRunOK;
+ }
+
+ /// <summary>
+ /// 浣嶇疆鍥為浂
+ /// </summary>
+ /// <param name="startAxisIndex"></param>
+ /// <param name="count"></param>
+ /// <returns></returns>
+ public override bool PositionReset(int startAxisIndex, int count)
+ {
+ lock (moveLock)
+ {
+ var rtn = GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)startAxisIndex, (short)count);
+ return rtn == (short)GTSRetCode.GRCRunOK;
}
}
#endregion
- public void Monitor()
- {
- throw new NotImplementedException();
- }
+ #region IMonitor
- public void ResetAlarm()
+ public List<AxisMovingStatus> GetAxisMovingStatus()
{
- throw new NotImplementedException();
+ List<AxisMovingStatus> axisMovingStatusesList = new List<AxisMovingStatus>();
+ foreach (var axisConfig in IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled))
+ {
+ AxisMovingStatus axisMovingStatus = new AxisMovingStatus();
+ axisMovingStatus.AxisIndex = axisConfig.AxisIndex;
+ axisMovingStatus.AxisName = axisConfig.AxisName;
+ //axisMovingStatus.CurPosition = Convert.ToInt32(GetPosition(axisMovingStatus.AxisIndex));
+ axisMovingStatus.Destination = Convert.ToInt32(GetPrfPosition(axisMovingStatus.AxisIndex));
+ //axisMovingStatus.CurVelocity = GetVelocity(axisMovingStatus.AxisIndex);
+ //axisMovingStatus.PrfVelocity = GetPrfVelocity(axisMovingStatus.AxisIndex);
+ axisMovingStatus.AxisStatus = GetAxisStatus(axisMovingStatus.AxisIndex);
+
+ axisMovingStatusesList.Add(axisMovingStatus);
+
+ }
+
+ return axisMovingStatusesList;
}
+ public List<IOItem> GetMonitorValues()
+ {
+ var result = new List<IOItem>();
+ //璇诲彇IO杈撳叆
+ int inValue;
+ GTSCardAPI.GT_GetDi((short)IConfig.CardNum, GTSCardAPI.MC_GPI, out inValue);
+ //璇诲彇IO杈撳嚭
+ int outValue;
+ GTSCardAPI.GT_GetDo((short)IConfig.CardNum, GTSCardAPI.MC_GPO, out outValue);
+
+ //瑙ｆ瀽缁撴灉
+ for (var index = 0; index < 16; index++)
+ {
+ IOItem inItem = new IOItem()
+ {
+ IONum = index,
+ Value = (inValue & (1 << index)) == 0 ? IOValue.TRUE : IOValue.FALSE,
+ IOType = IOType.INPUT
+ };
+ IOItem outItem = new IOItem()
+ {
+ IONum = index,
+ Value = (outValue & (1 << index)) == 0 ? IOValue.TRUE : IOValue.FALSE,
+ IOType = IOType.OUTPUT
+ };
+ result.Add(inItem);
+ result.Add(outItem);
+ }
+
+ return result;
+ }
+
+ public async override void Monitor()
+ {
+ await Task.Run(() =>
+ {
+ while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept && CurrentState != EnumHelper.DeviceState.DSUninit)
+ {
+ try
+ {
+ if (!IConfig.IsEnableMonitor)
+ return;
+
+ var newValues = GetMonitorValues();
+ var newAxisMovingStatus = GetAxisMovingStatus();
+
+ if (newValues == null || newValues.Count == 0 || newAxisMovingStatus == null || newAxisMovingStatus.Count == 0)
+ continue;
+
+ //Stopwatch sw = new Stopwatch();
+ //sw.Start();
+ if (MonitorValues.Count == newValues.Count)
+ {
+ //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);
+ }
+
+ 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();
+
+ //if (sw.ElapsedMilliseconds > 20)
+ //{
+ // LogAsync(DateTime.Now, $"{this.Name}杞鏃堕棿锛歿sw.ElapsedMilliseconds}", "");
+ //}
+
+ if (IConfig.MonitorInterval > 0)
+ {
+ Thread.Sleep(IConfig.MonitorInterval);
+ }
+
+ }
+ catch (Exception ex)
+ {
+ if (CurrentState == DeviceState.DSOpen)
+ {
+ LogAsync(DateTime.Now, $"{this.Name}鐩戝惉寮傚父", ex.GetExceptionMessage());
+ }
+ }
+ }
+ });
+ }
+
+ private 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;
+ //}
+
+ //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)
+ {
+ #region 璀︽姤淇℃伅
+ Parallel.ForEach(IConfig.WarningSetCollection, wSet =>
+ {
+ MotionCardWarningSet warningSet = wSet as MotionCardWarningSet;
+
+ bool isOn = (((int)((tempNew.FirstOrDefault(u => u.IONum == warningSet.TriggerIndex && u.IOType == warningSet.WarningIOModel)?.Value)) >> warningSet.TriggerIndex) & 1) == (warningSet.TriggerValue ? 1 : 0);
+
+ if (warningSet.CurrentStatus != isOn)
+ {
+ warningSet.CurrentStatus = isOn;
+ warningSet.TriggerTime = DateTime.Now;
+ SaveAlarmCSVAsync(DateTime.Now, this.Name, warningSet);
+ ExcuteMonitorAlarm(DateTime.Now, this, warningSet);
+ }
+ });
+ #endregion
+
+ #region 鐩戝惉淇℃伅
+ Parallel.ForEach(IConfig.MonitorSetCollection, mSet =>
+ {
+ MotionCardMonitorSet monitorSet = mSet as MotionCardMonitorSet;
+ if (monitorSet.TriggerIndex < 0 || monitorSet.TriggerIndex > tempNew.Count)
+ {
+ return;
+ }
+
+ var newIOItem = tempNew.FirstOrDefault(u => u.IONum == monitorSet.TriggerIndex);
+ var oldIOItem = tempOld.FirstOrDefault(u => u.IONum == monitorSet.TriggerIndex);
+
+ if (newIOItem?.Value != oldIOItem?.Value)
+ {
+ if (monitorSet.TriggerValue == -999 || (int)newIOItem.Value == monitorSet.TriggerValue)
+ {
+ if (monitorSet.OpConfig == null)
+ {
+ monitorSet.OpConfig = new OperationConfigBase();
+ }
+
+ //monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
+ //{
+ // return tempNew[index].Value == IOValue.TRUE ? 1 : 0;
+ //}).ToList();
+ monitorSet.OpConfig.InputPara = new List<int>() { (int)newIOItem.Value };
+
+ ExcuteMonitorInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet);
+ }
+ }
+ });
+ #endregion
+ }
+
+ public override void ResetAlarm()
+ {
+ int axis_sts;
+ var axisSettings = IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled);
+ ClearStatus(1, axisSettings.Count);
+ foreach (var axisSetting in axisSettings)
+ {
+ //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);
+ }
+ //// 鎵�鏈変綅缃闆�
+ //PositionReset(1, axisSettings.Count);
+ // 姝ｆ瀬闄愭姤璀�
+ if ((axis_sts & 0x20) != 0)
+ {
+ // 璐熷悜绉诲姩
+ MovingOption movingOption = new MovingOption();
+ movingOption.AxisIndex = (short)axisSetting.AxisIndex;
+ movingOption.Destination = -50; // 璐熷悜绉诲姩
+ movingOption.VelocityPara.Velocity = 50;
+ P2PMoveAbs(movingOption);
+ }
+
+ // 璐熸瀬闄愭姤璀�
+ if ((axis_sts & 0x40) != 0)
+ {
+ // 姝ｅ悜绉诲姩
+ MovingOption movingOption = new MovingOption();
+ movingOption.AxisIndex = (short)axisSetting.AxisIndex;
+ movingOption.Destination = 50; // 璐熷悜绉诲姩
+ movingOption.VelocityPara.Velocity = 50;
+ P2PMoveAbs(movingOption);
+ }
+ }
+
+ // 娓呴櫎鐘舵��
+ ClearStatus(1, axisSettings.Count);
+ }
+
+ object _alarmLock = new object();
+ private async void SaveAlarmCSVAsync(DateTime now, string plcName, IWarningSet ws)
+ {
+ await Task.Run(() =>
+ {
+ lock (_alarmLock)
+ {
+ DirectoryInfo dir = new DirectoryInfo(this.IConfig.LogPath);
+ if (!dir.Exists)
+ {
+ dir.Create();
+ }
+
+ string path = Path.Combine(IConfig.LogPath, $"Alarm_{Name}_{now.ToString("yyyyMMdd")}.csv");
+ bool fileExist = File.Exists(path);
+
+ using (StreamWriter writer = new StreamWriter(path, true, System.Text.Encoding.UTF8))
+ {
+ if (!fileExist)
+ {
+ writer.WriteLine("Time,Source,AlarmCode,AlarmDescription,AlarmStatus");
+ }
+
+ writer.WriteLine($"{now.ToString("HH:mm:ss.fff")},{plcName},{ws.WarningCode},{ws.WarningDescription},{(ws.CurrentStatus ? "鎶ヨ" : "鍋滄")}");
+
+ writer.Flush();
+ writer.Close();
+ }
+ }
+ });
+ }
+ #endregion
}
}
--
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