AxisBean.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public class AxisBean
{
public ConfigMoveAxis Config =null;
////是否在原点返回
//private bool homeRunning = false;
////是否在移动
//private bool moveRunning = false;
////是否已连接
//public bool isConnect = false;
public static int TimeoutInterval = 500;
/// <summary>
/// 正常工作过程中判断位置是否到达时使用
/// </summary>
public int LastPosition = 0;
public string AxisName;
public AxisBean(ConfigMoveAxis axisConfig)
{
this.Config = axisConfig;
AxisName = Config.Explain + "[" + Config.DeviceName + "-" + Config.GetAxisValue() + "]";
}
private bool IsIntSlvBlock = false;
public bool Open(bool isCheck,out string Msg)
{
Msg = "";
string portName = Config.DeviceName;
int slvAddr = Config.GetAxisValue();
//打开所有轴
ACServerManager.OpenPort(Config.DeviceName);
Thread.Sleep(50);
//初始化
if (!IsIntSlvBlock)
{
ACServerManager.InitSlvAddr(portName, slvAddr, Config.TargetSpeed, Config.AddSpeed, Config.DelSpeed);
Thread.Sleep(100);
}
ACServerManager.AlarmClear(portName, slvAddr);
Thread.Sleep(50);
ACServerManager.ServoOn(portName, slvAddr);
Thread.Sleep(1000);
//打开所有轴
if (isCheck)
{
if (!OpenAxis(out Msg))
{
return false;
}
}
IsIntSlvBlock = true;
return true;
}
/// <summary>
/// 打开所有轴
/// </summary>
/// <returns></returns>
private bool OpenAxis( out string msg)
{
msg = "";
//判断轴是否正常
string portName = Config.DeviceName;
int slvAddr = Config.GetAxisValue();
if (ACServerManager.ServerOnStatus(portName, slvAddr))
{
LogUtil.info( AxisName+ "成功打开" );
}
else
{
//清理报警，再重新打开一次
LogUtil.info(AxisName+ "第一次打开失败，先清理一下报警，再重新打开一次");
ACServerManager.AlarmClear(portName, slvAddr);
System.Threading.Thread.Sleep(1200);
ACServerManager.ServoOn(portName, slvAddr);
System.Threading.Thread.Sleep(100);
if (ACServerManager.ServerOnStatus(portName, slvAddr))
{
LogUtil.info(AxisName + "清理报警后重新打卡轴成功：" + Config.Explain);
}
else
{
ACServerManager.ServoOff(portName, slvAddr);
msg= "打开轴" + Config.Explain + "失败 ";
LogUtil.info(AxisName + msg);
return false;
}
}
return true;
}
public void Close()
{
LogUtil.info("ServoOff【" + AxisName + "】");
ACServerManager.ServoOff(Config.DeviceName, Config.GetAxisValue());
}
public void HomeMove(LineMoveInfo MoveInfo)
{
Config.TargetPosition = 0;
LogUtil.info(Config.DisplayStr + "speed[" + Config.TargetSpeed + "]开始原点返回");
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
ACServerManager.HomeMove(Config.DeviceName, (short)Config.GetAxisValue(), Config.HomeHighSpeed);
}
/// <summary>
/// 松下伺服电机运动
/// </summary>
public void AbsMove(LineMoveInfo MoveInfo, int targetPosition, int targetSpeed)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, targetPosition, targetSpeed));
Config.TargetPosition = targetPosition;
ACServerManager.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPosition, targetSpeed);
}
/// <summary>
/// 判断AC伺服电机轴是否运动完成
/// </summary>
public static bool ACAxisMoveIsEnd(LineMoveInfo MoveInfo, ConfigMoveAxis axis,int targetPosition, int targetSpeed, out string msg)
{
msg = "";
string deviceName = axis.DeviceName;
short axisNo = axis.GetAxisValue();
bool isOk = ACServerManager.GetBusyStatus(deviceName, axisNo).Equals(0);
int outCount = ACServerManager.GetActualtPosition(deviceName, axisNo);
int errorCount = Math.Abs(outCount - targetPosition);
if (isOk)
{
if (errorCount <= axis.CanErrorCountMax)
{
return true;
}
//判断是否需要重新运动
if (MoveInfo.CanWhileCount > 0)
{
LogUtil.error(axis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
"]，误差过大，重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次");
ACServerManager.AbsMove(axis.DeviceName, axis.GetAxisValue(), targetPosition, targetSpeed);
MoveInfo.CanWhileCount--;
}
else
{
msg = " storeMoveStep=" + MoveInfo.MoveStep + axis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount
+ "]，误差过大，需要报警";
LogUtil.error(msg);
}
}
return false;
}
public static bool HomeMoveIsEnd(LineMoveInfo MoveInfo, ConfigMoveAxis axis, out string msg)
{
msg = "";
if (ACServerManager.IsHomeMoveEnd(axis.DeviceName, axis.GetAxisValue()))
{
//原点完成并且位置=0
int outCount = ACServerManager.GetActualtPosition(axis.DeviceName, axis.GetAxisValue());
int errorCount = Math.Abs(outCount);
if (errorCount <= axis.CanErrorCountMax)
{
return true;
}
//判断是否需要重新运动
if (MoveInfo.CanWhileCount > 0)
{
LogUtil.error(axis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次");
//LogUtil.error( StoreName + moveAxis.DisplayStr + "重新回原点");
ACServerManager.HomeMove(axis.DeviceName, axis.GetAxisValue(), axis.HomeHighSpeed);
MoveInfo.CanWhileCount--;
}
else
{
msg = " storeMoveStep=" + MoveInfo.MoveStep + axis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
LogUtil.error(msg);
}
}
return false;
}
public int GetAclPosition()
{
int p = ACServerManager.GetActualtPosition(Config);
return p;
}
/// <summary>
/// 绝对运动至点，不等待结果
/// </summary>
public void AbsMove(int targetPos, double targetSpeed)
{
if (targetPos.Equals(-1))
{
return ;
}
LastPosition = -1;
if (targetSpeed > Config.TargetSpeed || targetSpeed <= 0)
{
targetSpeed = Config.TargetSpeed;
}
//小于1，表示是目标速度的百分比
else if (targetSpeed <= 1)
{
targetSpeed = Config.TargetSpeed * targetSpeed;
}
ACServerManager.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPos, (int)targetSpeed);
}
public void SuddenStop()
{
ACServerManager.SuddenStop(Config.DeviceName, Config.GetAxisValue());
}
///// <summary>
///// 移动到某点，会等到到达位置后结束
///// </summary>
///// <param name="pos"></param>
///// <returns></returns>
//public string AbsMoveAndWait(int pos, double targetSpeed = 0)
//{
// string result = AbsMove(pos, targetSpeed);
// if (!result.Equals(""))
// {
// return result;
// }
// moveRunning = true;
// while (true)
// {
// if (!moveRunning)
// {
// moveRunning = false;
// return AxisName + "用户中止";
// }
// Thread.Sleep(100);
// if (HasAlarm())
// {
// moveRunning = false;
// return AxisName + "伺服报警";
// }
// //判断Buzy及位置是否结束
// if (IsMoveEnd(pos))
// {
// //移动完成
// moveRunning = false;
// return "";
// }
// }
//}
//public bool HasAlarm()
//{
// return ACServerManager.GetAlarmStatus(Config.DeviceName, Config.GetAxisValue()).Equals(1);
//}
///// <summary>
///// 获取位置
///// </summary>
///// <param name="tryTimes">尝试次数</param>
///// <returns></returns>
//public int GetPos(int tryTimes)
//{
// for (int i = 0; i < tryTimes; i++)
// {
// int pos = ACServerManager.GetActualtPosition(Config.DeviceName, Config.GetAxisValue());
// if (pos != -1)
// {
// LastPosition = pos;
// return pos;
// }
// LogUtil.info("获取" + AxisName + "当前位置[" + pos + "]");
// Thread.Sleep(120);
// }
// return -1;
//}
//public bool IsMoveEnd(int targetPos)
//{
// bool isEnd = ACServerManager.GetBusyStatus(Config.DeviceName, Config.GetAxisValue()) == 0;
// return isEnd;
//}
//public void SuddenStop()
//{
// if (homeRunning)
// {
// homeRunning = false;
// }
// if (moveRunning)
// {
// moveRunning = false;
// }
// if (isConnect)
// {
// ACServerManager.SuddenStop(Config.DeviceName, Config.GetAxisValue());
// }
//}
//private void Stop()
//{
// if (homeRunning)
// {
// homeRunning = false;
// }
// if (moveRunning)
// {
// moveRunning = false;
// }
// if (isConnect)
// {
// //ACServerManager.Stop(Config.DeviceName, axisNo);
// }
//}
//public bool IsInPosition(int positionX, int chaValue)
//{
// if (moveRunning)
// {
// return false;
// }
// if (positionX.Equals(-1))
// {
// return true;
// }
// if (!LastPosition.Equals(-1))
// {
// int cha1 = positionX - LastPosition;
// if (Math.Abs(cha1) <= chaValue)
// {
// return true;
// }
// }
// LastPosition = GetPos(2);
// int XCha = positionX - LastPosition;
// if (Math.Abs(XCha) <= chaValue)
// {
// return true;
// }
// return false;
//}
///// <summary>
///// 异步原点返回
///// </summary>
///// <param name="timeout">超时时间</param>
///// <returns></returns>
//public string Home(TimeSpan timeout)
//{
// if (!isConnect)
// {
// return AxisName + "未连接";
// }
// if (moveRunning)
// {
// return AxisName + "正在运动";
// }
// homeRunning = true;
// string result = "";
// ACServerManager.HomeMove(Config.DeviceName, Config.GetAxisValue(), Config.HomeHighSpeed);
// double outTime = timeout.TotalMilliseconds;
// int time = 0;
// while (true)
// {
// if (!homeRunning)
// {
// result = AxisName + "用户中止";
// break;
// }
// else
// {
// Thread.Sleep(TimeoutInterval);
// if (isHomeEnd())
// {
// //LogUtil.info(Config.DeviceName + "原点返回停止，对比实际位置");
// int currentPos = GetPos(2);
// if (currentPos != -1 && Math.Abs(currentPos) <= Config.CanErrorCountMax)
// {
// LogUtil.info(AxisName + "原点返回完成，当前位置【" + currentPos + "】");
// //原点返回完成
// result = "";
// break;
// };
// }
// if (HasAlarm())
// {
// result = AxisName + "报警";
// break;
// }
// time = time + TimeoutInterval;
// if (time >= outTime)
// {
// result = AxisName + "超时";
// break;
// }
// }
// }
// homeRunning = false;
// return result;
//}
//public bool isHomeEnd()
//{
// bool isEnd = ACServerManager.IsHomeMoveEnd(Config.DeviceName, Config.GetAxisValue());
// return isEnd;
//}
}
}