From e54c5a471c372e314f89c340644ddda98ab063bb Mon Sep 17 00:00:00 2001
From: xcd <834800634@qq.com>
Date: 星期三, 19 八月 2020 11:04:22 +0800
Subject: [PATCH] 1. 优化gts板卡回原点操作 2. 添加数据精度配置 3. 添加HalconTool异常捕捉分类和部分非空判断
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 153 ++++++++++++++++++++++++++++++--------------------
1 files changed, 91 insertions(+), 62 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index 2385a82..c430886 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -443,7 +443,7 @@
{
axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
- if (!axisPauseResumeFlag[optionPara.AxisIndex])
+ if (axisPauseResumeFlag.ContainsKey(optionPara.AxisIndex) && !axisPauseResumeFlag[optionPara.AxisIndex])
return true;
try
@@ -492,7 +492,7 @@
isSuccessAndStop = false;
LogAsync(DateTime.Now, $"杞磠optionPara.AxisIndex}杩愬姩寮傚父", ex.GetExceptionMessage());
}
- } while (axisImmediatePauseFlag[optionPara.AxisIndex]);
+ } while (axisImmediatePauseFlag.ContainsKey(optionPara.AxisIndex) && axisImmediatePauseFlag[optionPara.AxisIndex]);
return isSuccessAndStop;
});
}
@@ -888,18 +888,15 @@
{
try
{
- StartCapture:
-
- PositionReset(movingOption.AxisIndex, 1);
- ClearStatus(movingOption.AxisIndex, 1);
+ var goHomePara = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == movingOption.AxisIndex).GoHomePara;
+ bool homeDirection = goHomePara.IsHomeDirPositive;
+ bool isRightLimitReached = false;
+ short capture = 0;
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);
+ short 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;
@@ -907,69 +904,101 @@
// 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);
+ sRtn = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)movingOption.AxisIndex, 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(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 || capture == 1 || repeatTime <= 0));
+ PositionReset(movingOption.AxisIndex, 1);
+ ClearStatus(movingOption.AxisIndex, 1);
- 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");
- }
+ //鎼滅储璺濈 闃舵1
+ // 鍚姩Home鎹曡幏
+ sRtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
- if (isStop && capture != 1)
- {
- ClearStatus((short)movingOption.AxisIndex, 1);
+ // 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, homeDirection ? 99999999 : -99999999);
+ // 鍚姩杩愬姩
+ sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
+
+ int repeatTime = goHomePara.GoHomeTimeOut * 1000;
+
+ bool isStop = false;
+ int pos;
+ uint clk;//鏃堕挓鍙傛暟
+ do
+ {
+ Thread.Sleep(IConfig.MonitorInterval * 5);
+ // 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 -= IConfig.MonitorInterval * 5;
+ } while (!(isStop || capture == 1 || repeatTime <= 0));
+
+ if (repeatTime <= 0)
+ {
+ MoveStop((short)movingOption.AxisIndex, 0);
+ throw new ProcessException($"杩愬姩杞磠movingOption.AxisIndex} 锛屽洖鍘熺偣瓒呮椂寮傚父");
+ }
var axisStatus = AxisStatusList.FirstOrDefault(u => u.AxisIndex == movingOption.AxisIndex);
- if (((axisStatus.AxisStatus & 0x20) != 0) || ((axisStatus.AxisStatus & 0x40) != 0))
+ if (isStop && capture != 1)
{
- movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);
- goto StartCapture;
+ if (((axisStatus.AxisStatus & 0x20) != 0) || ((axisStatus.AxisStatus & 0x40) != 0))
+ {
+ //movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);
+
+ //姝ｉ檺浣�
+ if ((axisStatus.AxisStatus & 0x20) != 0 && !goHomePara.IsCaptureDirPositive)
+ {
+ isRightLimitReached = true;
+ }
+
+ //璐熼檺浣�
+ if ((axisStatus.AxisStatus & 0x40) != 0 && goHomePara.IsCaptureDirPositive)
+ {
+ isRightLimitReached = true;
+ }
+
+ homeDirection = !homeDirection;
+ }
+
+ ClearStatus(movingOption.AxisIndex, 1);
}
- throw new ProcessException($"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
+ if (capture == 1)
{
- Thread.Sleep(20);
- isStop = IsStop((short)movingOption.AxisIndex);
- repeatTime--;
- } while (!isStop && repeatTime > 0);
- PositionReset(movingOption.AxisIndex, 1);
- return (sRtn == (short)GTSRetCode.GRCRunOK) && isStop;
- }
+ if (!isRightLimitReached)
+ {
+ capture = 0;
+ ClearStatus(movingOption.AxisIndex, 1);
+ //GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
+ continue;
+ }
+
+ //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 + 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;
+ }
+
+ } while (!(capture == 1 && isRightLimitReached));
return false;
}
catch (Exception ex)
--
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