From f06ae0e33e33f1ed5f198827b9b5a53e765b3eee Mon Sep 17 00:00:00 2001
From: patrick.xu <patrick.xu@broconcentric.com>
Date: 星期一, 11 一月 2021 10:58:26 +0800
Subject: [PATCH] 1. 来料检测添加线体代码 2. 添加检测数据区间压缩配置和功能
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 170 +++++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 143 insertions(+), 27 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index c430886..303ddb4 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -99,6 +99,9 @@
{
AllAxisOn();
+ MonitorPosition();
+ MonitorAxisStatus();
+
base.Start();
}
@@ -523,7 +526,7 @@
/// <returns></returns>
public double GetPosition(int axisNum)
{
- lock (moveLock)
+ //lock (moveLock)
{
double position = 0;
double pPos = 0;
@@ -643,7 +646,9 @@
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 ProcessException("杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄩ潪姝ｅ父鐘舵�佽繍鍔�", null);
+
+ return false;
+ //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);
@@ -722,8 +727,11 @@
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 ProcessException("杞�" + optionPara.AxisIndex + "璇曞浘鍦ㄩ潪姝ｅ父鐘舵�佽繍鍔�", null);
+
+ return false;
+ //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;
bool isSuccessSetAxisParam = false;
@@ -780,7 +788,8 @@
bool isStop = false;
if (option == 1)
{
- StateChange(EnumHelper.DeviceState.DSExcept);
+ //StateChange(EnumHelper.DeviceState.DSExcept);
+ LogAsync(DateTime.Now, "鎬ュ仠鍋滄", "");
}
var ret = GTSCardAPI.GT_Stop((short)IConfig.CardNum, 1 << (axisNum - 1), option);
if (ret != (short)GTSRetCode.GRCRunOK)
@@ -888,6 +897,8 @@
{
try
{
+ Thread.CurrentThread.Priority = ThreadPriority.AboveNormal;
+
var goHomePara = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == movingOption.AxisIndex).GoHomePara;
bool homeDirection = goHomePara.IsHomeDirPositive;
bool isRightLimitReached = false;
@@ -904,34 +915,56 @@
// 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, goHomePara.HighVelocity);
+ sRtn = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)movingOption.AxisIndex, goHomePara.HomeVelocity);
do
{
PositionReset(movingOption.AxisIndex, 1);
ClearStatus(movingOption.AxisIndex, 1);
- //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);
+ //LogAsync(DateTime.Now, $"{Name}浣嶇疆缃浂", "");
+
+ if (goHomePara.IsCaptureMode)
+ {
+ //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);
+ }
// 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);
+ sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, homeDirection ? 999999999 : -999999999);
// 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;
+ int pos = 0;
uint clk;//鏃堕挓鍙傛暟
+
+ int checkInterval = IConfig.MonitorInterval;
+ if (IConfig.MonitorInterval <= 0)
+ {
+ checkInterval = 10;
+ }
+
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);
+ Thread.Sleep(checkInterval);
+
+ if (goHomePara.IsCaptureMode)
+ {
+ // 璇诲彇鎹曡幏鐘舵��
+ GTSCardAPI.GT_GetCaptureStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out capture, out pos, 1, out clk);
+ }
+ else
+ {
+ GTSCardAPI.GT_GetDi((short)IConfig.CardNum, GTSCardAPI.MC_HOME, out int pValue);
+ capture = (short)((pValue & (1 << (movingOption.AxisIndex - 1))) == 0 ? 1 : 0);
+ //LogAsync(DateTime.Now, $"鍘熺偣鐘舵�亄pValue}锛岃酱{movingOption.AxisIndex}鍘熺偣{capture}", "");
+ }
isStop = IsStop((short)movingOption.AxisIndex);
- repeatTime -= IConfig.MonitorInterval * 5;
+ repeatTime -= checkInterval;
} while (!(isStop || capture == 1 || repeatTime <= 0));
if (repeatTime <= 0)
@@ -942,11 +975,16 @@
var axisStatus = AxisStatusList.FirstOrDefault(u => u.AxisIndex == movingOption.AxisIndex);
+ //if (isStop)
+ //{
+ // LogAsync(DateTime.Now, $"杞磠movingOption.AxisIndex}澶嶄綅涓仠姝�", $"Capture鐘舵�亄capture}");
+ //}
+
if (isStop && capture != 1)
{
if (((axisStatus.AxisStatus & 0x20) != 0) || ((axisStatus.AxisStatus & 0x40) != 0))
{
- //movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);
+ capture = 0;
//姝ｉ檺浣�
if ((axisStatus.AxisStatus & 0x20) != 0 && !goHomePara.IsCaptureDirPositive)
@@ -961,6 +999,8 @@
}
homeDirection = !homeDirection;
+
+ LogAsync(DateTime.Now, $"杞磠movingOption.AxisIndex}鏋侀檺浣嶇疆鎹㈠悜", "");
}
ClearStatus(movingOption.AxisIndex, 1);
@@ -995,14 +1035,18 @@
repeatTime--;
} while (!isStop && repeatTime > 0);
PositionReset(movingOption.AxisIndex, 1);
+ LogAsync(DateTime.Now, $"杞磠movingOption.AxisIndex}澶嶄綅瀹屾垚锛屼綅缃竻闆�", "");
+
return (sRtn == (short)GTSRetCode.GRCRunOK) && isStop;
}
} while (!(capture == 1 && isRightLimitReached));
+
return false;
}
catch (Exception ex)
{
+ LogAsync(DateTime.Now, $"{Name}鍥炲師鐐瑰紓甯�", ex.GetExceptionMessage());
AllMoveStop(true);
OnExceptionOccured?.Invoke(DateTime.Now, ex);
return false;
@@ -1076,7 +1120,7 @@
/// <returns></returns>
public override int GetAxisStatus(int axisNum)
{
- lock (moveLock)
+ //lock (moveLock)
{
int sts = 0;
uint pclock = 0;
@@ -1099,7 +1143,7 @@
/// <returns></returns>
public override bool PositionReset(int startAxisIndex, int count)
{
- lock (moveLock)
+ //lock (moveLock)
{
var rtn = GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)startAxisIndex, (short)count);
return rtn == (short)GTSRetCode.GRCRunOK;
@@ -1130,7 +1174,6 @@
return axisMovingStatusesList;
}
-
public List<IOItem> GetMonitorValues()
{
@@ -1164,6 +1207,79 @@
return result;
}
+ SpinWait _positionWait = new SpinWait();
+ private async void MonitorPosition()
+ {
+ await Task.Run(() =>
+ {
+ while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept && CurrentState != EnumHelper.DeviceState.DSUninit)
+ {
+ try
+ {
+ if (!IConfig.IsEnableMonitor)
+ return;
+
+ AxisStatusList.ForEach(a =>
+ {
+ int curPosition = (int)GetPrfPosition(a.AxisIndex);
+
+ if (a.CurPosition != curPosition)
+ {
+ a.CurPosition = curPosition;
+ AxisPositionChanged(a.AxisIndex, curPosition);
+ }
+ });
+
+ _positionWait.SpinOnce();
+ }
+ catch (Exception ex)
+ {
+ if (CurrentState == DeviceState.DSOpen)
+ {
+ LogAsync(DateTime.Now, $"{this.Name}鐩戝惉杞翠俊鎭紓甯�", ex.GetExceptionMessage());
+ }
+ }
+ }
+ });
+ }
+
+ SpinWait _statusWait = new SpinWait();
+ private async void MonitorAxisStatus()
+ {
+ await Task.Run(() =>
+ {
+ while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept && CurrentState != EnumHelper.DeviceState.DSUninit)
+ {
+ try
+ {
+ if (!IConfig.IsEnableMonitor)
+ return;
+
+ AxisStatusList.ForEach(a =>
+ {
+ int curStatus = GetAxisStatus(a.AxisIndex);
+
+ if (a.AxisStatus != curStatus)
+ {
+ int temp = a.AxisStatus;
+ a.AxisStatus = curStatus;
+ AxisStatusChanged(a.AxisIndex, temp, curStatus);
+ }
+ });
+
+ _statusWait.SpinOnce();
+ }
+ catch (Exception ex)
+ {
+ if (CurrentState == DeviceState.DSOpen)
+ {
+ LogAsync(DateTime.Now, $"{this.Name}鐩戝惉杞翠俊鎭紓甯�", ex.GetExceptionMessage());
+ }
+ }
+ }
+ });
+ }
+
public async override void Monitor()
{
await Task.Run(() =>
@@ -1176,9 +1292,9 @@
return;
var newValues = GetMonitorValues();
- var newAxisMovingStatus = GetAxisMovingStatus();
+ //var newAxisMovingStatus = GetAxisMovingStatus();
- if (newValues == null || newValues.Count == 0 || newAxisMovingStatus == null || newAxisMovingStatus.Count == 0)
+ if (newValues == null || newValues.Count == 0)
continue;
//Stopwatch sw = new Stopwatch();
@@ -1192,14 +1308,14 @@
MonitorCheckAndInvoke(tempNew, tempOld);
}
- if (AxisStatusList.Count == newAxisMovingStatus.Count)
- {
- var tempNew = new List<AxisMovingStatus>(newAxisMovingStatus);//clone
- var tempOld = new List<AxisMovingStatus>(AxisStatusList);
- AxisStatusCheck(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);
+ //AxisStatusList = new List<AxisMovingStatus>(newAxisMovingStatus);
MonitorValues = new List<IOItem>(newValues);
//sw.Stop();
--
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