From da0da2d1238555c4ff488dbaaae1371ba4cf6827 Mon Sep 17 00:00:00 2001
From: wells.liu <wells.liu@broconcentric.com>
Date: 星期四, 09 七月 2020 17:22:51 +0800
Subject: [PATCH] Merge branch 'master' of http://gitblit.broconcentric.com:8088/r/M071
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 145 ++++++++++++++++++++++++++++++------------------
1 files changed, 90 insertions(+), 55 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index c2cc8e6..ed10b08 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)
{
@@ -51,7 +56,17 @@
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 = AxisMovingOptionValues.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex);
+ axisInfo.AxisLocation = axisMovingStatus == null ? 0 : Convert.ToDouble(axisMovingStatus.CurPosition);
+
+ axisInfos.Add(axisInfo);
+ });
+ return axisInfos;
}
#region DeviceBase
@@ -59,16 +74,15 @@
protected override void Init()
{
InitialMotionCard();
- axisImmediatePauseHandleDict = IConfig.AxisSettings.ToDictionary(a => a.AxisIndex, a => new ManualResetEvent(true));
- axisMoveCancelDict = IConfig.AxisSettings.ToDictionary(a => a.AxisIndex, a => new CancellationTokenSource());
+ 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();
- });
+ //axisMoveCancelDict.Values.ToList().ForEach(c =>
+ //{
+ // c = new CancellationTokenSource();
+ //});
}
- ManualResetEvent _pauseHandle = new ManualResetEvent(true);
protected override void Pause()
{
@@ -100,7 +114,6 @@
ResponseMessage responseMessage = new ResponseMessage();
if (config is MotionCardOperationConfigBase motionCardOperationConfig)
{
- _pauseHandle.WaitOne();
foreach (var operationSet in motionCardOperationConfig.OperationCollection)
{
responseMessage = RunOperationSet(operationSet);
@@ -149,7 +162,7 @@
// 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;
@@ -211,15 +224,15 @@
{
if (!_isResetting)
{
- var immediatePauseAxis = IConfig.AxisSettings.Where(u => u.IsImmediatePause).Select(u => u.AxisIndex).ToList();
+ 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();
+ //axisMoveCancelDict[axisIndex].Cancel();
- await MoveStop(axisIndex, 0);
+ await MoveStop(axisIndex, 0);//鎵�鏈夎酱閮芥殏鍋�
});
}
}
@@ -229,11 +242,11 @@
/// </summary>
public void ResetImmediatePause()
{
- var immediatePauseAxis = IConfig.AxisSettings.Where(u => u.IsImmediatePause).Select(u => u.AxisIndex).ToList();
+ var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();
immediatePauseAxis.ForEach(axisIndex =>
{
- axisMoveCancelDict[axisIndex] = new CancellationTokenSource();
+ //axisMoveCancelDict[axisIndex] = new CancellationTokenSource();
axisImmediatePauseHandleDict[axisIndex].Set();
});
@@ -251,7 +264,7 @@
{
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);
@@ -259,13 +272,13 @@
}
- public bool AllAxisOn()
+ 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.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>
+ IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ForEach(axisNum =>
{
- var task = AxisOnAsync((short)IConfig.CardNum, (short)axisNum.AxisIndex);
+ var task = AxisOnAsync(axisNum.AxisIndex);
taskList.Add(task);
});
Task.WaitAll(taskList.ToArray());
@@ -273,13 +286,13 @@
return resultOK;
}
- public bool AllAxisOff()
+ 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.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>
+ IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ForEach(axisNum =>
{
- var task = AxisOffAsync((short)IConfig.CardNum, (short)axisNum.AxisIndex);
+ var task = AxisOffAsync(axisNum.AxisIndex);
taskList.Add(task);
});
Task.WaitAll(taskList.ToArray());
@@ -291,11 +304,11 @@
/// 鍗曚釜杞村紑鍚�
/// </summary>
/// <returns></returns>
- public async Task<bool> AxisOnAsync(short cardNum, short axisNum)
+ public override async Task<bool> AxisOnAsync(int axisNum)
{
return await Task.Run(() =>
{
- var ret = GTSCardAPI.GT_AxisOn(cardNum, axisNum);
+ var ret = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisNum);
return ret == (short)GTSRetCode.GRCRunOK;
});
}
@@ -304,11 +317,11 @@
/// 鍗曚釜杞村叧闂�
/// </summary>
/// <returns></returns>
- public async Task<bool> AxisOffAsync(short cardNum, short axisNum)
+ public override async Task<bool> AxisOffAsync(int axisNum)
{
return await Task.Run(() =>
{
- var ret = GTSCardAPI.GT_AxisOff(cardNum, axisNum);
+ var ret = GTSCardAPI.GT_AxisOff((short)IConfig.CardNum, (short)axisNum);
return ret == (short)GTSRetCode.GRCRunOK;
});
}
@@ -323,7 +336,6 @@
ResponseMessage responseMessage = new ResponseMessage();
if (opConfig is MotionOperationCollection gtsOperationCollection)
{
- _pauseHandle.WaitOne();
List<Task<bool>> taskList = new List<Task<bool>>();
foreach (var movingOp in gtsOperationCollection.MovingOps)
{
@@ -350,14 +362,15 @@
{
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)
@@ -371,17 +384,16 @@
/// 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 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();
@@ -447,7 +459,8 @@
{
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;
}
@@ -467,7 +480,8 @@
{
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;
}
}
@@ -476,7 +490,7 @@
/// 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;
@@ -486,7 +500,6 @@
{
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;
}
@@ -494,7 +507,7 @@
/// 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;
@@ -503,7 +516,6 @@
{
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;
}
@@ -588,11 +600,12 @@
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)
@@ -663,11 +676,12 @@
short ret = 0;
bool isSuccessSetAxisParam = false;
int timeout = optionPara.MovingTimeout;
- while (CurrentState == DeviceState.DSOpen)
+ 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)
@@ -684,12 +698,12 @@
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;
}
@@ -707,7 +721,7 @@
/// <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 async Task<bool> MoveStop(int axisNum, int option)
+ public override async Task<bool> MoveStop(int axisNum, int option)
{
return await Task.Run(() =>
{
@@ -766,7 +780,7 @@
{
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);
@@ -793,7 +807,7 @@
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);
@@ -871,10 +885,9 @@
/// <summary>
/// 璇诲彇杞寸姸鎬�
/// </summary>
- /// <param name="cardNum">鏉垮崱鍙�</param>
/// <param name="axisNum">杞村彿</param>
/// <returns></returns>
- public int GetAxisStatus(int axisNum)
+ public override int GetAxisStatus(int axisNum)
{
lock (moveLock)
{
@@ -884,6 +897,28 @@
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
#region IMonitor
@@ -1073,7 +1108,7 @@
{
int axis_sts;
var axisSettings = IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled);
- GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, 1, (short)axisSettings.Count);
+ ClearStatus(1, axisSettings.Count);
foreach (var axisSetting in axisSettings)
{
axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
@@ -1081,8 +1116,8 @@
{
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)
{
@@ -1107,7 +1142,7 @@
}
// 娓呴櫎鐘舵��
- GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, 1, (short)IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled).Count);
+ ClearStatus(1, axisSettings.Count);
}
object _alarmLock = new object();
--
Gitblit v1.8.0