From c65d55e3235dbdb17b7d13937a39c866f1822437 Mon Sep 17 00:00:00 2001
From: wells.liu <wells.liu@broconcentric.com>
Date: 星期四, 09 七月 2020 09:54:19 +0800
Subject: [PATCH] 暂停与继续
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 55 ++++++++++++++++++++++++++++++++++---------------------
1 files changed, 34 insertions(+), 21 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index 918ed22..240c375 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -38,11 +38,16 @@
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>();
+ //Dictionary<int, CancellationTokenSource> axisMoveCancelDict = new Dictionary<int, CancellationTokenSource>();
public void SetResetFlag(bool isReset)
{
@@ -70,12 +75,12 @@
{
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 = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ToDictionary(a => a.AxisIndex, a => new CancellationTokenSource());
- axisMoveCancelDict.Values.ToList().ForEach(c =>
- {
- c = new CancellationTokenSource();
- });
+ //axisMoveCancelDict.Values.ToList().ForEach(c =>
+ //{
+ // c = new CancellationTokenSource();
+ //});
}
protected override void Pause()
@@ -225,9 +230,9 @@
{
axisImmediatePauseHandleDict[axisIndex].Reset();
- axisMoveCancelDict[axisIndex].Cancel();
+ //axisMoveCancelDict[axisIndex].Cancel();
- await MoveStop(axisIndex, 0);
+ await MoveStop(axisIndex, 0);//鎵�鏈夎酱閮芥殏鍋�
});
}
}
@@ -241,7 +246,7 @@
immediatePauseAxis.ForEach(axisIndex =>
{
- axisMoveCancelDict[axisIndex] = new CancellationTokenSource();
+ //axisMoveCancelDict[axisIndex] = new CancellationTokenSource();
axisImmediatePauseHandleDict[axisIndex].Set();
});
@@ -381,14 +386,13 @@
public override async Task<bool> SingleAxisMoving(MovingOption optionPara)
{
return await Task.Run(() =>
- {
+ {
+ axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
bool isSuccessAndStop = false;
try
{
if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
{
- axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
-
string _position = "";
string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();
@@ -670,7 +674,7 @@
short ret = 0;
bool isSuccessSetAxisParam = false;
int timeout = optionPara.MovingTimeout;
- while (CurrentState == DeviceState.DSOpen)
+ while (CurrentState == DeviceState.DSOpen&&!_isPause)
{
//璁剧疆 杩愬姩鍙傛暟
isSuccessSetAxisParam = SetAxisParam(optionPara);
@@ -691,12 +695,12 @@
bool isStop = false;
repeatTime = 1000;
- do
+ while (!isStop && repeatTime > 0)
{
isStop = IsStop((short)optionPara.AxisIndex);
Thread.Sleep(50);
repeatTime--;
- } while (!isStop && repeatTime > 0);
+ }
return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
}
@@ -773,7 +777,7 @@
{
try
{
- GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);
+ PositionReset(movingOption.AxisIndex, 1);
GTSCardAPI.THomePrm thomeprm;
GTSCardAPI.THomeStatus homests;
short rtn = GTSCardAPI.GT_GetHomePrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out thomeprm);
@@ -800,7 +804,7 @@
if (isStop && homests.error == 0)
{
Thread.Sleep(200);
- GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);
+ PositionReset(movingOption.AxisIndex, 1);
}
repeatTime--;
} while (!isStop && repeatTime > 0);
@@ -897,10 +901,19 @@
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)
{
- var rtn = GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)startAxisIndex, (short)count);
- return rtn == (short)GTSRetCode.GRCRunOK;
+ lock (moveLock)
+ {
+ var rtn = GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)startAxisIndex, (short)count);
+ return rtn == (short)GTSRetCode.GRCRunOK;
+ }
}
#endregion
@@ -1100,8 +1113,8 @@
{
var rst = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisSetting.AxisIndex);
}
- // 浣嶇疆璇烽浂
- GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, 1, (short)axisSettings.Count);
+ // 鎵�鏈変綅缃闆�
+ PositionReset(1, axisSettings.Count);
// 姝ｆ瀬闄愭姤璀�
if ((axis_sts & 0x20) != 0)
{
--
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