From fccc60d8897642ef5c39176b8c872b63fe819ae2 Mon Sep 17 00:00:00 2001
From: xcd <834800634@qq.com>
Date: 星期五, 20 十一月 2020 10:44:57 +0800
Subject: [PATCH] gocator添加int4类型数据，暂时注释
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 31 +++++++++++++++++++++++--------
src/Bro.Device.Gocator/GocatorDriver.cs | 22 ++++++++++++++++++++++
2 files changed, 45 insertions(+), 8 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index d0c3dff..dbea577 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -526,7 +526,7 @@
/// <returns></returns>
public double GetPosition(int axisNum)
{
- lock (moveLock)
+ //lock (moveLock)
{
double position = 0;
double pPos = 0;
@@ -891,6 +891,8 @@
{
try
{
+ Thread.CurrentThread.Priority = ThreadPriority.AboveNormal;
+
var goHomePara = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == movingOption.AxisIndex).GoHomePara;
bool homeDirection = goHomePara.IsHomeDirPositive;
bool isRightLimitReached = false;
@@ -914,6 +916,8 @@
PositionReset(movingOption.AxisIndex, 1);
ClearStatus(movingOption.AxisIndex, 1);
+ //LogAsync(DateTime.Now, $"{Name}浣嶇疆缃浂", "");
+
if (goHomePara.IsCaptureMode)
{
//鎼滅储璺濈 闃舵1
@@ -922,7 +926,7 @@
}
// 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));
@@ -940,7 +944,7 @@
do
{
- Thread.Sleep(checkInterval * 2);
+ Thread.Sleep(checkInterval);
if (goHomePara.IsCaptureMode)
{
@@ -950,11 +954,11 @@
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 -= checkInterval * 2;
+ repeatTime -= checkInterval;
} while (!(isStop || capture == 1 || repeatTime <= 0));
if (repeatTime <= 0)
@@ -965,11 +969,16 @@
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)
@@ -984,6 +993,8 @@
}
homeDirection = !homeDirection;
+
+ LogAsync(DateTime.Now, $"杞磠movingOption.AxisIndex}鏋侀檺浣嶇疆鎹㈠悜", "");
}
ClearStatus(movingOption.AxisIndex, 1);
@@ -1018,14 +1029,18 @@
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;
@@ -1099,7 +1114,7 @@
/// <returns></returns>
public override int GetAxisStatus(int axisNum)
{
- lock (moveLock)
+ //lock (moveLock)
{
int sts = 0;
uint pclock = 0;
@@ -1122,7 +1137,7 @@
/// <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;
diff --git a/src/Bro.Device.Gocator/GocatorDriver.cs b/src/Bro.Device.Gocator/GocatorDriver.cs
index 15f801a..0d22a6f 100644
--- a/src/Bro.Device.Gocator/GocatorDriver.cs
+++ b/src/Bro.Device.Gocator/GocatorDriver.cs
@@ -90,9 +90,12 @@
long bufferSize = width * height;
IntPtr bufferPointer = surfaceMsg.Data;
+
float zoomFactor = (float)((double)surfaceMsg.YResolution / (double)surfaceMsg.XResolution);
int zoomHeight = (int)(zoomFactor * height);
+
IntPtr zoomPtr = Marshal.AllocHGlobal(zoomHeight * (int)width * 2);
+ //IntPtr zoomPtr = Marshal.AllocHGlobal(zoomHeight * (int)width * 4);
//娌℃湁鎻掑�硷紝榛樿0
//Parallel.For(0, height, h =>
@@ -108,14 +111,33 @@
CopyMemory((IntPtr)((long)zoomPtr + width * 2 * h), (IntPtr)((long)bufferPointer + width * 2 * originHeightIndex), width * 2);
});
+ ////浣跨敤涓婁竴琛屽師鏈夋暟鎹�
+ //Parallel.For(0, zoomHeight, h =>
+ //{
+ // int originHeightIndex = (int)Math.Floor((double)height * h / (double)zoomHeight);
+
+ // byte[] rowBuffer = new byte[width * 4];
+ // Parallel.For(0, width, w =>
+ // {
+ // rowBuffer[w * 4 + 2] = Marshal.ReadByte(bufferPointer, (int)(width * 2 * originHeightIndex + w * 2));
+ // rowBuffer[w * 4 + 3] = Marshal.ReadByte(bufferPointer, (int)(width * 2 * originHeightIndex + w * 2 + 1));
+ // });
+
+ // Marshal.Copy(rowBuffer, 0, (IntPtr)((long)zoomPtr + width * 2 * h), rowBuffer.Length);
+ //});
+
if (imgSet != null)
{
imgSet.HImage = new HImage();
imgSet.HImage.GenImage1("uint2", (int)width, zoomHeight, zoomPtr);
+ //imgSet.HImage.GenImage1("int4", (int)width, zoomHeight, zoomPtr);
+
imgSet.HImage_2 = new HImage();
imgSet.HImage_2.GenImage1("uint2", (int)width, zoomHeight, zoomPtr);
+ //imgSet.HImage_2.GenImage1("int4", (int)width, zoomHeight, zoomPtr);
+
LaserScanParam para = new LaserScanParam()
{
Resolution_X = surfaceMsg.XResolution,
--
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