From d007fd8d64ff33a1edb960fa33cf2312a955d933 Mon Sep 17 00:00:00 2001
From: wells.liu <wells.liu@broconcentric.com>
Date: 星期一, 06 七月 2020 14:02:46 +0800
Subject: [PATCH] 板卡底层优化
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 96 ++++++++++++++++++++++++++++++++----------------
1 files changed, 64 insertions(+), 32 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index f2c0343..28e82b1 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -323,13 +323,13 @@
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();
+ string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();
_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:
+ case MotionMode.Normal:
{
if (_isResetting)
{
@@ -348,12 +348,12 @@
}
break;
- case MotorMoveMode.FindOri:
+ case MotionMode.FindOri:
{
isSuccessAndStop = GoHome(optionPara);
}
break;
- case MotorMoveMode.Jog:
+ case MotionMode.Jog:
{
isSuccessAndStop = JogMove(optionPara);
}
@@ -413,6 +413,41 @@
}
/// <summary>
+ /// 鑾峰彇瑙勫垝閫熷害
+ /// </summary>
+ /// <param name="axisNum">Axis number</param>
+ /// <returns></returns>
+ public double GetPrfVelocity(int axisNum)
+ {
+ double prfVel = 0;
+ uint pclock = 0;
+ var ret = GTSCardAPI.GT_GetPrfVel((short)IConfig.CardNum, (short)axisNum, out prfVel, 1, out pclock);
+ if (ret != (short)GTSRetCode.GRCRunOK)
+ {
+ throw new Exception("杞�" + axisNum + "鑾峰彇瑙勫垝閫熷害寮傚父锛岄敊璇爜锛�" + ret);
+ }
+ prfVel = prfVel / IConfig.AxisVelocityRatio;
+ return prfVel;
+ }
+
+ /// <summary>
+ /// 鑾峰彇褰撳墠閫熷害
+ /// </summary>
+ /// <param name="axisNum">Axis number</param>
+ /// <returns></returns>
+ public double GetVelocity(int axisNum)
+ {
+ double vel = 0;
+ var ret = GTSCardAPI.GT_GetVel((short)IConfig.CardNum, (short)axisNum, out vel);
+ if (ret != (short)GTSRetCode.GRCRunOK)
+ {
+ throw new Exception("杞�" + axisNum + "鑾峰彇褰撳墠閫熷害寮傚父锛岄敊璇爜锛�" + ret);
+ }
+ vel = vel / IConfig.AxisVelocityRatio;
+ return vel;
+ }
+
+ /// <summary>
/// Set Single Axis Do Jog Move
/// </summary>
/// <param name="axisNum">AxisNo</param>
@@ -450,29 +485,6 @@
OnExceptionRaised?.Invoke(ex);
return false;
}
-
- }
-
- /// <summary>
- /// Set Single Axis Do stop Jog Move
- /// </summary>
- /// <param name="axisNum">AxisNo</param>
- /// <returns></returns>
- public bool StopJog(int axisNum)
- {
- //鍋滄杩愬姩
- MoveStop(axisNum, 0);
- //杩愬姩寮�濮嬪悗 妫�鏌ヨ繍鍔ㄦ槸鍚﹀仠姝�
- bool isStop = false;
- int repeatTime = 1000;
- do
- {
- isStop = IsStop((short)IConfig.CardNum, (short)axisNum);
- Thread.Sleep(50);
- repeatTime--;
- } while (!isStop && repeatTime > 0);
-
- return isStop;
}
/// <summary>
@@ -767,17 +779,17 @@
/// </summary>
/// <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 override void WriteOutput(short cardNum, short index, IOValue value)
+ public override void WriteOutput(short index, IOValue value)
{
short outNum = (short)(index % 100 + 1);
if ((int)value <= 1)
{
- GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, (short)value);
+ GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)value);
}
else
{
var currentValue = (int)MonitorValues.FirstOrDefault(u => u.IONum == outNum && u.IOType == IOType.OUTPUT).Value;
- GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, (short)(currentValue == 1 ? 0 : 1));
+ GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)(currentValue == 1 ? 0 : 1));
}
}
@@ -803,7 +815,24 @@
#region IMonitor
- //public List<IOItem> MonitorValues { get; set; } = new List<IOItem>();
+ public List<AxisMovingStatus> GetAxisMovingStatus()
+ {
+ List<AxisMovingStatus> axisMovingStatusesList = new List<AxisMovingStatus>();
+ foreach (var axisConfig in IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled))
+ {
+ AxisMovingStatus axisMovingStatus = new AxisMovingStatus();
+ axisMovingStatus.AxisIndex = axisConfig.AxisIndex;
+ axisMovingStatus.AxisName = axisConfig.AxisName;
+ axisMovingStatus.CurPosition = Convert.ToInt32(GetPosition(axisMovingStatus.AxisIndex));
+ axisMovingStatus.Destination = Convert.ToInt32(GetPrfPosition(axisMovingStatus.AxisIndex));
+ axisMovingStatus.CurVelocity = GetVelocity(axisMovingStatus.AxisIndex);
+ axisMovingStatus.PrfVelocity = GetPrfVelocity(axisMovingStatus.AxisIndex);
+ axisMovingStatusesList.Add(axisMovingStatus);
+
+ }
+
+ return axisMovingStatusesList;
+ }
public List<IOItem> GetMonitorValues()
@@ -849,7 +878,8 @@
if (!IConfig.IsEnableMonitor)
return;
var newValues = GetMonitorValues();
- if (newValues == null || newValues.Count == 0)
+ var newAxisMovingStatus = GetAxisMovingStatus();
+ if (newValues == null || newValues.Count == 0 || newAxisMovingStatus == null || newAxisMovingStatus.Count == 0)
continue;
Stopwatch sw = new Stopwatch();
@@ -860,6 +890,8 @@
var tempOld = MonitorValues.DeepSerializeClone();
MonitorCheckAndInvoke(tempNew, tempOld);
}
+
+ AxisMovingOptionValues = new List<AxisMovingStatus>(newAxisMovingStatus);
MonitorValues = new List<IOItem>(newValues);
sw.Stop();
--
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