1240 lines
38 KiB
C#
1240 lines
38 KiB
C#
using System;
|
||
using System.Collections;
|
||
using System.Collections.Generic;
|
||
using System.ComponentModel;
|
||
using System.Drawing.Design;
|
||
using System.Linq;
|
||
using System.Text;
|
||
using System.Text.Json.Serialization;
|
||
using System.Threading.Tasks;
|
||
using DH.Commons.Enums;
|
||
|
||
namespace DH.Devices.Motion
|
||
{
|
||
public class MotionBase
|
||
{
|
||
//[Category("板卡配置")]
|
||
//[DisplayName("板卡站号")]
|
||
//[Description("板卡站号")]
|
||
//public virtual ushort StationNumber { get; set; } = 0;
|
||
|
||
public TaskFactory _taskFactory = new TaskFactory(TaskCreationOptions.LongRunning, TaskContinuationOptions.LongRunning);
|
||
protected Dictionary<int, bool> _axisAlarmRaisedFlag = new Dictionary<int, bool>();
|
||
protected Dictionary<int, System.Threading.Timer> _axisLimitTimer = new Dictionary<int, System.Threading.Timer>();
|
||
|
||
//[Category("扩展卡设置")]
|
||
//[Description("扩展卡数量")]
|
||
//[DisplayName("扩展卡数量")]
|
||
//public ushort CardExtNum { get; set; } = 0;
|
||
|
||
public List<AxisMovingStatus> AxisStatusList { get; set; } = new List<AxisMovingStatus>();
|
||
|
||
|
||
|
||
public virtual void Init() { }
|
||
|
||
public virtual void Start() { }
|
||
|
||
public virtual void Stop() { }
|
||
public virtual void ResetImmediatePause(bool isResumeMoving) { }
|
||
|
||
public virtual bool AllAxisOn() { return false; }
|
||
|
||
public virtual void SetImmediatePause() { }
|
||
|
||
|
||
|
||
public virtual bool AllAxisOff() { return false; }
|
||
|
||
public virtual async Task AxisOnAsync(int axisNum){ }
|
||
|
||
public virtual async Task AxisOffAsync(int axisNum) { }
|
||
|
||
public virtual List<AxisInfo> GetCurrentAxisInfo(params string[] axisName) { return new List<AxisInfo>(); }
|
||
|
||
public bool isconnected=false;
|
||
|
||
|
||
[Category("板卡配置")]
|
||
[DisplayName("板卡型号")]
|
||
[Description("板卡型号")]
|
||
public BoardModelEnum BoardModel { get; set; } = BoardModelEnum.EC3416;
|
||
|
||
|
||
|
||
|
||
[Category("板卡配置")]
|
||
[DisplayName("扩展板类型")]
|
||
[Description("扩展板类型")]
|
||
public ExtensionBoardEnum ExtBoard { get; set; } = ExtensionBoardEnum.None;
|
||
|
||
|
||
|
||
[Category("机台配置")]
|
||
[DisplayName("机台类型")]
|
||
[Description("机台类型")]
|
||
public MachineDiskType MachineDiskType { get; set; } = MachineDiskType.SingleDisk;
|
||
|
||
|
||
|
||
|
||
[Category("轴配置")]
|
||
[DisplayName("轴数量")]
|
||
[Description("AxisNum：轴数量")]
|
||
public int AxisNum { get; set; } = 4;
|
||
|
||
|
||
[Category("轴配置")]
|
||
[DisplayName("轴配置信息集合")]
|
||
[Description("AxisSettings：轴配置信息集合")]
|
||
public List<AxisSetting> AxisSettings { get; set; } = new List<AxisSetting>();
|
||
|
||
[Category("轴配置")]
|
||
[DisplayName("轴速度比率")]
|
||
[Description("AxisVelocityRatio：轴速度比率")]
|
||
public double AxisVelocityRatio { get; set; } = 1;
|
||
|
||
//[Category("警报配置")]
|
||
//[Description("WarningSetCollection：警报配置列表")]
|
||
//[DisplayName("警报配置")]
|
||
//[TypeConverter(typeof(CollectionCountConvert))]
|
||
//[Editor(typeof(WarningSetsEditor<IOWarningSet>), typeof(UITypeEditor))]
|
||
//public List<IWarningSet> WarningSetCollection { get; set; } = new List<IWarningSet>();
|
||
|
||
[Category("IO配置")]
|
||
[Description("输入IO总数")]
|
||
[DisplayName("输入IO总数")]
|
||
public int InputNums { get; set; } = 16;
|
||
|
||
[Category("IO配置")]
|
||
[Description("输出IO总数")]
|
||
[DisplayName("输出IO总数")]
|
||
public int OutputNums { get; set; } = 16;
|
||
|
||
[Category("IO配置")]
|
||
[DisplayName("IO定义集合")]
|
||
[Description("IO定义集合")]
|
||
//[TypeConverter(typeof(CollectionCountConvert))]
|
||
// [Editor(typeof(ComplexCollectionEditor<IODefinition>), typeof(UITypeEditor))]
|
||
public List<IODefinition> IODefinitionCollection { get; set; } = new List<IODefinition>();
|
||
|
||
[Category("IO配置")]
|
||
[DisplayName("是否信号模式")]
|
||
[Description("true：信号模式,绿色表示有信号，灰色表示无信号 false：电平模式，绿色高电平，灰色低电平，一般情况下低电平表示有信号，板卡默认是电平模式")]
|
||
public bool IsSignalMode { get; set; } = false;
|
||
|
||
#region IMonitorConfig
|
||
//[Category("监听设置")]
|
||
//[Description("MonitorSetCollection：监听操作配置集合")]
|
||
//[DisplayName("监听配置")]
|
||
//[TypeConverter(typeof(CollectionCountConvert))]
|
||
//[Editor(typeof(ComplexCollectionEditor<IOMonitorSet>), typeof(UITypeEditor))]
|
||
//public List<IMonitorSet> MonitorSetCollection { get; set; } = new List<IMonitorSet>();
|
||
|
||
[Category("监听设置")]
|
||
[Description("true：启动监听 false：关闭监听")]
|
||
[DisplayName("监听启用")]
|
||
public bool IsEnableMonitor { get; set; } = false;
|
||
|
||
[Category("监听设置")]
|
||
[Description("扫描间隔时间，单位：ms")]
|
||
[DisplayName("扫描间隔")]
|
||
public int MonitorInterval { get; set; } = 20;
|
||
|
||
[Category("监听设置")]
|
||
[Description("超时设置，单位：ms")]
|
||
[DisplayName("监听超时")]
|
||
public int MonitorTimeout { get; set; } = 500;
|
||
|
||
//public List<IMonitorSet> GetAllMonitorSet()
|
||
//{
|
||
// WarningSetCollection.ForEach(m => m.SourceDevice = this.Name);
|
||
// MonitorSetCollection.ForEach(m => m.SourceDeviceId = this.Id);
|
||
// return MonitorSetCollection;
|
||
//}
|
||
#endregion
|
||
|
||
|
||
|
||
|
||
#region 转盘卡新增配置
|
||
|
||
|
||
[Category("筛选配置")]
|
||
[DisplayName("启用转盘卡自动筛选功能")]
|
||
[Description("启用转盘卡自动筛选功能")]
|
||
public bool IsEnableFilter { get; set; } = true;
|
||
|
||
[Category("筛选配置")]
|
||
[DisplayName("启用转盘卡盘2触发取反")]
|
||
[Description("启用转盘卡盘2触发取反")]
|
||
public bool DiskSnaptChange { get; set; } = false;
|
||
|
||
|
||
|
||
[Category("筛选配置")]
|
||
[DisplayName("第二路来料检测配置")]
|
||
[Description("第二路来料检测配置")]
|
||
public SortingInputSetting SortingInputSetting { get; set; } = new SortingInputSetting();
|
||
|
||
|
||
|
||
[Category("筛选配置")]
|
||
[DisplayName("相机配置")]
|
||
[Description("相机配置")]
|
||
public List<SnapshotSetting> SnapshotSettings { get; set; } = new List<SnapshotSetting>();
|
||
|
||
|
||
|
||
|
||
|
||
[Category("筛选配置")]
|
||
[DisplayName("吹气口配置")]
|
||
[Description("吹气口配置")]
|
||
public List<BlowSetting> BlowSettings { get; set; } = new List<BlowSetting>();
|
||
|
||
|
||
[Category("筛选配置")]
|
||
[DisplayName("转盘运转方向")]
|
||
[Description("转盘运转方向，顺时针或逆时针")]
|
||
//[TypeConverter(typeof(EnumDescriptionConverter<RotationDirectionEnum>))]
|
||
public RotationDirectionEnum MotionDir { get; set; } = RotationDirectionEnum.Clockwise;
|
||
|
||
|
||
|
||
[Category("筛选配置")]
|
||
[DisplayName("物料尺寸最大值")]
|
||
[Description("物料尺寸最大值，单位：脉冲")]
|
||
public uint PieceMaxSize { get; set; } = 20000;
|
||
|
||
|
||
[Category("筛选配置")]
|
||
[DisplayName("物料尺寸最小值")]
|
||
[Description("物料尺寸最小值，单位：脉冲")]
|
||
public uint PieceMinSize { get; set; } = 10;
|
||
|
||
|
||
[Category("筛选配置")]
|
||
[DisplayName("物料最小间隔")]
|
||
[Description("物料最小间隔，单位：脉冲")]
|
||
public uint MinDistance { get; set; } = 10;
|
||
|
||
[Category("筛选配置")]
|
||
[DisplayName("两个物料之间触发最小间隔时间")]
|
||
[Description("两个物料之间触发最小间隔时间，单位：ms")]
|
||
public uint MinTimeInterval { get; set; } = 1;
|
||
|
||
|
||
|
||
[Category("急停配置")]
|
||
[DisplayName("启用转盘卡硬件急停")]
|
||
[Description("启用转盘卡硬件急停")]
|
||
public bool IsEnableEmgStop { get; set; } = false;
|
||
|
||
|
||
[Category("急停配置")]
|
||
[DisplayName("急停信号触发索引")]
|
||
[Description("急停信号触发索引")]
|
||
public ushort EmgStopSignalIoIndex { get; set; } = 4;
|
||
|
||
|
||
[Category("急停配置")]
|
||
[DisplayName("急停触发信号")]
|
||
[Description("急停触发信号")]
|
||
public EMG_Mode EmgMode { get; set; } = EMG_Mode.EMG_Trigger_High_IMD;
|
||
|
||
|
||
|
||
|
||
|
||
|
||
#endregion
|
||
|
||
|
||
public List<IOItem> CurrentIOs { get; set; } = new List<IOItem>();
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// 吹气口配置
|
||
/// </summary>
|
||
public class BlowSetting
|
||
{
|
||
|
||
[Category("板卡配置")]
|
||
[DisplayName("板卡站号")]
|
||
[Description("板卡站号")]
|
||
public virtual ushort StationNumber { get; set; } = 0;
|
||
|
||
|
||
|
||
|
||
[Category("吹气口配置")]
|
||
[DisplayName("是否启用")]
|
||
[Description("是否启用")]
|
||
public bool IsEnabled { get; set; } = false;
|
||
|
||
[Category("吹气口配置")]
|
||
[DisplayName("转盘运转方向")]
|
||
[Description("转盘运转方向")]
|
||
public RotationDirectionEnum RotationDirection { get; set; } = RotationDirectionEnum.Clockwise;
|
||
|
||
//[Category("吹气口配置")]
|
||
//[DisplayName("吹气口名称")]
|
||
//[Description("吹气口名称")]
|
||
//public string Name { get; set; } = "";
|
||
|
||
|
||
[Category("吹气口配置")]
|
||
[DisplayName("吹气口位置")]
|
||
[Description("吹气口位置，即吹气口到入料检测传感器的相对位置，单位：脉冲")]
|
||
public int BlowPosition { get; set; } = 0;
|
||
|
||
|
||
[Category("吹气口配置")]
|
||
[DisplayName("输出信号")]
|
||
[Description("输出信号")]
|
||
public ActionMode ActionMode { get; set; } = ActionMode.OutputPulse10ms;
|
||
|
||
[Category("吹气口配置")]
|
||
[DisplayName("吹气口IO")]
|
||
[Description("吹气口IO")]
|
||
public IODefinition BlowIO { get; set; } = new IODefinition() { IOType = IOType.OUTPUT };
|
||
|
||
|
||
|
||
[Category("吹气口配置")]
|
||
[DisplayName("吹气口类型")]
|
||
[Description("吹气口类型")]
|
||
public BlowType BlowType { get; set; }
|
||
|
||
|
||
//public string GetDisplayText()
|
||
//{
|
||
// //return $"{BlowType.GetEnumDescription()} 距离{BlowPosition} 输出{BlowIO.GetDisplayText()}";
|
||
//}
|
||
}
|
||
public class SnapshotSetting : IComparable
|
||
{
|
||
|
||
[Category("板卡配置")]
|
||
[DisplayName("板卡站号")]
|
||
[Description("板卡站号")]
|
||
public virtual ushort StationNumber { get; set; } = 0;
|
||
|
||
|
||
[Category("取像相机设置")]
|
||
[DisplayName("转盘运转方向")]
|
||
[Description("转盘运转方向")]
|
||
public RotationDirectionEnum RotationDirection { get; set; } = RotationDirectionEnum.Clockwise;
|
||
|
||
|
||
[Category("取像相机设置")]
|
||
[DisplayName("是否启用")]
|
||
[Description("是否启用")]
|
||
public bool IsEnabled { get; set; } = false;
|
||
|
||
|
||
[Category("取像相机设置")]
|
||
[Description("取像相机")]
|
||
[DisplayName("取像相机")]
|
||
public string CameraId { get; set; }
|
||
|
||
|
||
[Category("取像相机设置")]
|
||
[DisplayName("相机触发延时毫秒")]
|
||
[Description("相机触发后延时显示，单位ms")]
|
||
public double CameraDelayCountMS { get; set; } = 0;
|
||
|
||
|
||
[Category("取像相机设置")]
|
||
[DisplayName("相机位置")]
|
||
[Description("相机位置，即相机到入料检测传感器的相对位置，单位：脉冲")]
|
||
public int CameraPosition { get; set; } = 0;
|
||
|
||
|
||
|
||
[Category("取像相机设置")]
|
||
[DisplayName("相机IO")]
|
||
[Description("相机IO")]
|
||
public IODefinition CameraIO { get; set; } = new IODefinition() { IOType = IOType.OUTPUT };
|
||
|
||
|
||
[Category("取像相机设置")]
|
||
[DisplayName("输出信号")]
|
||
[Description("输出信号，取决于相机触发模式及转盘速度")]
|
||
public ActionMode ActionMode { get; set; } = ActionMode.OutputPulse10ms;
|
||
|
||
|
||
|
||
//[Category("获取结果")]
|
||
//[Description("调用方法")]
|
||
//[DisplayName("调用方法")]
|
||
//[TypeConverter(typeof(ProcessMethodSelectorConverter))]
|
||
//public string MethodCode { get; set; }
|
||
|
||
|
||
public int CompareTo(object obj)
|
||
{
|
||
if (obj is SnapshotSetting setting)
|
||
{
|
||
// return Math.Abs(CameraPosition).CompareTo(Math.Abs(setting.CameraPosition));
|
||
return CameraPosition.CompareTo(setting.CameraPosition);
|
||
}
|
||
return 0;
|
||
}
|
||
|
||
//public string GetDisplayText()
|
||
//{
|
||
// //string cameraName = "";
|
||
// //using (var scope = GlobalVar.Container.BeginLifetimeScope())
|
||
// //{
|
||
// // List<IDevice> devices = scope.Resolve<List<IDevice>>();
|
||
// // cameraName = devices.FirstOrDefault(u => u.Id == CameraId)?.Name ?? "";
|
||
// //}
|
||
|
||
// //// return $"{cameraName} ：{IOItem.GetDisplayText()};{cameraName} {DetectType.GetEnumDescription()}";
|
||
// //return $"{cameraName} 距离{CameraPosition} 输出{CameraIO.GetDisplayText()}";
|
||
//}
|
||
}
|
||
/// <summary>
|
||
/// 轴配置
|
||
/// </summary>
|
||
public class AxisSetting
|
||
{
|
||
[Category("轴配置")]
|
||
[DisplayName("轴号索引")]
|
||
[Description("AxisIndex：轴号索引")]
|
||
public int AxisIndex { get; set; }
|
||
|
||
[Category("轴配置")]
|
||
[DisplayName("轴名称")]
|
||
[Description("AxisName：轴名称")]
|
||
public string AxisName { get; set; }
|
||
|
||
[Category("轴配置")]
|
||
[DisplayName("轴是否启用")]
|
||
[Description("IsAxisEnabled：轴是否启用")]
|
||
public bool IsAxisEnabled { get; set; } = false;
|
||
|
||
[Category("换算配置")]
|
||
[DisplayName("脉冲数换算比例")]
|
||
[Description("脉冲数和其他计量单位的换算比例，例如设置为1000，表示1000个脉冲等于1uint")]
|
||
public int AxisRatio { get; set; } = 1;
|
||
|
||
[Category("监听设置")]
|
||
[Description("true：监听位置信息 false：不监听位置信息")]
|
||
[DisplayName("位置监听")]
|
||
public bool IsMonitorPosition { get; set; } = true;
|
||
|
||
[Category("监听设置")]
|
||
[Description("true：监听状态信息 false：不监听状态信息")]
|
||
[DisplayName("状态监听")]
|
||
public bool IsMonitorStatus { get; set; } = true;
|
||
|
||
[Category("捕获设置")]
|
||
[Description("true：启用捕获监听 false：不启用捕获监听")]
|
||
[DisplayName("捕获监听")]
|
||
public bool IsMonitorCapture { get; set; } = true;
|
||
|
||
[Category("速度配置")]
|
||
[DisplayName("默认速度参数")]
|
||
[Description("VelocityPara：默认速度参数")]
|
||
public VelocityPara VelocityPara { get; set; } = new VelocityPara();
|
||
|
||
//[Category("回原点设置")]
|
||
//[DisplayName("回原点模式")]
|
||
//[Description("HomeMode：回原点模式。0：一般模式 1：极限限位模式 2：外部触发模式")]
|
||
//public int HomeMode { get; set; } = 0;
|
||
|
||
//[Category("回原点设置")]
|
||
//[DisplayName("回原点方向")]
|
||
//[Description("IsHomePositive：回原点方向。 true：正方向开始 false：负方向开始")]
|
||
//public bool IsHomePositive { get; set; } = true;
|
||
|
||
//[Category("回原点设置")]
|
||
//[DisplayName("是否自动回原点")]
|
||
//[Description("IsAutoGoHome：是否自动回原点。 true：是 false：否")]
|
||
//public bool IsAutoGoHome { get; set; } = false;
|
||
|
||
//[Category("超时设置")]
|
||
//[DisplayName("回原点超时")]
|
||
//[Description("TimeOutHome：回原点超时，单位毫秒")]
|
||
//public int TimeOutHome { get; set; } = 30000;
|
||
|
||
//[Category("超时设置")]
|
||
//[DisplayName("运动超时")]
|
||
//[Description("TimeOutMove：运动超时，单位毫秒")]
|
||
//public int TimeOutMove { get; set; } = 10000;
|
||
|
||
//[Category("开闭环设置")]
|
||
//[DisplayName("是否使用Cmmd回馈")]
|
||
//[Description("IsUseCmmdPosition：是否使用Cmmd回馈")]
|
||
//public bool IsUseCmmdPosition { get; set; } = false;
|
||
|
||
//[Category("开闭环设置")]
|
||
//[DisplayName("是否使用板卡反馈停止信号")]
|
||
//[Description("IsUseMDNStopSignal：是否使用板卡反馈停止信号")]
|
||
//public bool IsUseMDNStopSignal { get; set; } = false;
|
||
|
||
//[Category("开闭环设置")]
|
||
//[DisplayName("是否启用报警")]
|
||
//[Description("IsUseWarning：是否启用报警")]
|
||
//public bool IsUseWarning { get; set; } = false;
|
||
|
||
|
||
[Category("伺服报警")]
|
||
[DisplayName("是否启用报警")]
|
||
[Description("是否启用报警")]
|
||
public bool IsUseAlarm { get; set; } = true;
|
||
|
||
|
||
[Category("伺服报警")]
|
||
[DisplayName("报警复位电平")]
|
||
[Description("报警复位电平")]
|
||
public LogicLevelEnum AlarmLogic { get; set; } = LogicLevelEnum.LowLevel;
|
||
|
||
|
||
|
||
[Category("原点配置")]
|
||
[DisplayName("回原点参数")]
|
||
[Description("回原点参数")]
|
||
|
||
public GoHomePara GoHomePara { get; set; } = new GoHomePara();
|
||
|
||
|
||
[Category("暂停配置")]
|
||
[DisplayName("是否启用立即暂停")]
|
||
[Description("IsImmediatePause：是否启用立即暂停")]
|
||
public bool IsImmediatePause { get; set; } = false;
|
||
|
||
public string GetDisplayText()
|
||
{
|
||
return AxisIndex + "-" + AxisName + "-" + (IsAxisEnabled ? "启用" : "禁用");
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 速度参数对象
|
||
/// </summary>
|
||
public class VelocityPara
|
||
{
|
||
[Category("速度配置")]
|
||
[DisplayName("速度")]
|
||
[Description("Velocity：速度,为0时表示不修改当前设置")]
|
||
public double Velocity { get; set; } = 0;
|
||
|
||
[Category("速度配置")]
|
||
[DisplayName("加速度")]
|
||
[Description("Acc：加速度,为0时表示不修改当前设置")]
|
||
public double Acc { get; set; } = 0;
|
||
|
||
[Category("速度配置")]
|
||
[DisplayName("减速度")]
|
||
[Description("减速度,为0时表示不修改当前设置")]
|
||
public double Dec { get; set; } = 0;
|
||
|
||
|
||
|
||
public string GetDisplayText()
|
||
{
|
||
return $"速度:{Velocity} 加速度:{Acc} 减速度:{Dec}";
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 回原点参数对象
|
||
/// </summary>
|
||
public class GoHomePara
|
||
{
|
||
[Category("回原点参数")]
|
||
[DisplayName("回原点方式")]
|
||
[Description("HomeMode：回原点方式")]
|
||
public GoHomeMode HomeMode { get; set; } = GoHomeMode.Negative_Ne_Center_H_Positive_N_Index_HPoO_Offset_Po;
|
||
|
||
|
||
[Category("回原点参数")]
|
||
[DisplayName("正负限位触发电平")]
|
||
[Description("LimitLogic：正负限位触发电平")]
|
||
public LogicLevelEnum LimitLogic { get; set; } = LogicLevelEnum.LowLevel;
|
||
|
||
[Category("回原点参数")]
|
||
[DisplayName("原点限位触发电平")]
|
||
[Description("HomeLogic：原点限位触发电平")]
|
||
|
||
public LogicLevelEnum HomeLogic { get; set; } = LogicLevelEnum.LowLevel;
|
||
|
||
[Category("回原点参数")]
|
||
[DisplayName("Index触发电平")]
|
||
[Description("IndexLogic：Index触发电平")]
|
||
|
||
public LogicLevelEnum IndexLogic { get; set; } = LogicLevelEnum.LowLevel;
|
||
|
||
|
||
[Category("回原点参数")]
|
||
[DisplayName("捕捉位置模式")]
|
||
[Description("TriggerSource：捕捉位置模式")]
|
||
|
||
public PositionSourceEnum TriggerSource { get; set; } = PositionSourceEnum.CommandPosition;
|
||
|
||
|
||
|
||
[Category("回原点加速时间")]
|
||
[DisplayName("高速段加速时间")]
|
||
[Description("高速段加速时间，单位：ms")]
|
||
public ushort H_dMaxA_Time { get; set; } = 10;
|
||
|
||
|
||
[Category("回原点加速时间")]
|
||
[DisplayName("低速段加速时间")]
|
||
[Description("低速段加速时间，单位：ms")]
|
||
public ushort L_dMaxA_Time { get; set; } = 10;
|
||
|
||
|
||
|
||
[Category("回原点参数")]
|
||
[DisplayName("偏移位置")]
|
||
[Description("偏移位置，按回零模式中的方向偏移")]
|
||
public int OffsetPosition { get; set; } = 0;
|
||
|
||
|
||
|
||
[Category("回原点参数")]
|
||
[DisplayName("碰撞原点缓停时间")]
|
||
[Description("SearchHomeStopTime：触发缓停时间，范围 0-1000ms，（默认：急停）。注意：设置碰撞原点缓停时间，需要配合回零设置的高速段速度，和低速度速度的搭配。设置大了会出现过冲的现象，设置小了停止的时候会有抖动，需要调节时间，尽量设置找到原点时候在开关中间。")]
|
||
public ushort SearchHomeStopTime { get; set; } = 0;
|
||
|
||
|
||
|
||
|
||
|
||
[Category("回原点速度")]
|
||
[DisplayName("高速段速度")]
|
||
[Description("高速段速度")]
|
||
public double H_dMaxV { get; set; } = 10000;
|
||
|
||
[Category("回原点速度")]
|
||
[DisplayName("低速段速度")]
|
||
[Description("低速段速度")]
|
||
public double L_dMaxV { get; set; } = 3000;
|
||
|
||
|
||
|
||
|
||
|
||
[Category("回原点超时")]
|
||
[DisplayName("回原点超时")]
|
||
[Description("回原点超时，单位秒")]
|
||
public int GoHomeTimeOut { get; set; } = 60;
|
||
}
|
||
|
||
|
||
|
||
/// <summary>
|
||
/// 回原点的状态
|
||
/// </summary>
|
||
public class GoHomeStatus
|
||
{
|
||
[Category("回原点状态")]
|
||
[DisplayName("回原点状态")]
|
||
[Description("回原点状态，0：回零成功，31：回零错误，32：正在回零")]
|
||
public ushort Status { get; set; }
|
||
|
||
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// 轴状态对象
|
||
/// </summary>
|
||
public class AxisMovingStatus
|
||
{
|
||
/// <summary>
|
||
/// 卡号、 核号
|
||
/// </summary>
|
||
public int StationNumber { get; set; } = 0;
|
||
|
||
/// <summary>
|
||
/// 轴索引
|
||
/// </summary>
|
||
public int AxisIndex { get; set; }
|
||
|
||
/// <summary>
|
||
/// 轴名称
|
||
/// </summary>
|
||
public string AxisName { get; set; }
|
||
|
||
/// <summary>
|
||
/// 当前位置
|
||
/// </summary>
|
||
public int CurPosition { get; set; }
|
||
|
||
/// <summary>
|
||
/// 目的地
|
||
/// </summary>
|
||
public int PrfPosition { get; set; }
|
||
|
||
/// <summary>
|
||
/// 当前速度参数
|
||
/// </summary>
|
||
public double CurVelocity { get; set; }
|
||
|
||
/// <summary>
|
||
/// 规划速度参数
|
||
/// </summary>
|
||
public double PrfVelocity { get; set; }
|
||
|
||
/// <summary>
|
||
/// 轴状态
|
||
/// </summary>
|
||
public int AxisStatus { get; set; }
|
||
|
||
public bool Alarm { get; set; } = false;
|
||
public bool Enable { get; set; } = false;
|
||
public bool PositiveLimit { get; set; } = false;
|
||
public bool NegativeLimit { get; set; } = false;
|
||
|
||
|
||
public bool IsMonitorPosition { get; set; }
|
||
|
||
public bool IsMonitorStatus { get; set; }
|
||
|
||
//public string GetDisplayText()
|
||
//{
|
||
// //return $"轴{AxisIndex}:{AxisName}-当前状态：{AxisStatus}-当前位置：{CurPosition}";
|
||
//}
|
||
}
|
||
|
||
|
||
|
||
|
||
public class AxisInfo
|
||
{
|
||
public string AxisName { get; set; }
|
||
public double AxisLocation { get; set; }
|
||
|
||
public string GetDisplayText()
|
||
{
|
||
return $"{AxisName}:{AxisLocation}";
|
||
}
|
||
}
|
||
|
||
|
||
public class IODefinition : IOItem
|
||
{
|
||
[Category("IO配置")]
|
||
[Description("IO预定义")]
|
||
public IOPrestatement IOPreStatement { get; set; } = IOPrestatement.Customized;
|
||
|
||
[Category("IO配置")]
|
||
[Description("IO用途描述")]
|
||
public string IODesc { get; set; }
|
||
|
||
[Category("IO配置")]
|
||
[Description("备注说明")]
|
||
public string Remark { get; set; }
|
||
|
||
|
||
//[Category("IO配置")]
|
||
//[Description("IO初始值，Flase为0（低电平），Ture为1（高电平）")]
|
||
//public bool InitialValue { get; set; } = false;
|
||
|
||
|
||
|
||
|
||
[Browsable(false)]
|
||
[JsonIgnore]
|
||
public override IOValue IOValue { get; set; }
|
||
|
||
//public override string GetDisplayText()
|
||
//{
|
||
// return $"{(IOPreStatement == IOPrestatement.Customized ? IODesc : IOPreStatement.GetEnumDescription())} {IOType.GetEnumDescription()} {IOIndex}";
|
||
//}
|
||
}
|
||
|
||
|
||
public class IOItem : IEqualityComparer
|
||
{
|
||
/// <summary>
|
||
/// IO点编号
|
||
/// </summary>
|
||
[Category("IO配置")]
|
||
[Description("IO点索引")]
|
||
public virtual int IOIndex { get; set; }
|
||
|
||
/// <summary>
|
||
/// IO点的值
|
||
/// </summary>
|
||
[Category("IO配置")]
|
||
[Description("IO状态")]
|
||
public virtual IOValue IOValue { get; set; }
|
||
|
||
/// <summary>
|
||
/// IO点是in还是out
|
||
/// </summary>
|
||
[Category("IO配置")]
|
||
[Description("IO类型")]
|
||
public virtual IOType IOType { get; set; }
|
||
|
||
public new bool Equals(object x, object y)
|
||
{
|
||
if (x is IOItem a && y is IOItem b)
|
||
{
|
||
return a.IOType == b.IOType && a.IOIndex == b.IOIndex;
|
||
}
|
||
|
||
return false;
|
||
}
|
||
|
||
//public virtual string GetDisplayText()
|
||
//{
|
||
// return $"{IOType.GetEnumDescription()}-{IOIndex}-{IOValue.GetEnumDescription()}";
|
||
//}
|
||
|
||
public int GetHashCode(object obj)
|
||
{
|
||
return obj.GetHashCode();
|
||
}
|
||
}
|
||
|
||
|
||
public class SortingInputSetting
|
||
{
|
||
|
||
[Category("入料检测配置")]
|
||
[DisplayName("启用入料检测")]
|
||
[Description("启用入料检测")]
|
||
public bool Enable { get; set; } = false;
|
||
|
||
|
||
[Category("入料检测配置")]
|
||
[DisplayName("位号")]
|
||
[Description("位号")]
|
||
|
||
public BitInputNumberEnum BitInputNumber { get; set; } = BitInputNumberEnum.BitInput0;
|
||
|
||
|
||
[Category("入料检测配置")]
|
||
[DisplayName("物件检测有效电平")]
|
||
[Description("物件检测有效电平")]
|
||
public LogicLevelEnum InputLogic { get; set; } = LogicLevelEnum.LowLevel;
|
||
|
||
|
||
[Category("入料检测配置")]
|
||
[DisplayName("物件检测有效电平")]
|
||
[Description("物件检测有效电平")]
|
||
public ushort AxisIndex { get; set; } = 0;
|
||
|
||
|
||
|
||
|
||
[Category("入料检测配置")]
|
||
[DisplayName("跟随方式")]
|
||
[Description("跟随方式")]
|
||
public PositionSourceEnum PositionSource { get; set; } = PositionSourceEnum.EncoderPosition;
|
||
|
||
|
||
|
||
[Category("入料检测配置")]
|
||
[DisplayName("入料检测捕获位置")]
|
||
[Description("入料检测捕获位置")]
|
||
public SortingInputPositionModeEnum SortingInputPositionMode { get; set; } = SortingInputPositionModeEnum.Front;
|
||
|
||
|
||
|
||
[Category("相机绑定配置")]
|
||
[DisplayName("启用相机绑定")]
|
||
[Description("启用相机绑定")]
|
||
public bool EnableBindCamera { get; set; } = false;
|
||
|
||
|
||
[Category("相机绑定配置")]
|
||
[DisplayName("起始相机号")]
|
||
[Description("起始相机号")]
|
||
public ushort CameraStartNumber { get; set; } = 0;
|
||
|
||
|
||
|
||
|
||
[Category("吹气绑定配置")]
|
||
[DisplayName("启用吹气绑定")]
|
||
[Description("启用吹气绑定")]
|
||
public bool EnableBindBlow { get; set; } = false;
|
||
|
||
|
||
[Category("吹气绑定配置")]
|
||
[DisplayName("起始气阀号")]
|
||
[Description("起始气阀号")]
|
||
public ushort BlowStartNumber { get; set; } = 0;
|
||
|
||
|
||
|
||
//public string GetDisplayText()
|
||
//{
|
||
// return $"{BitInputNumber.GetEnumDescription()} 启用相机绑定{EnableBindCamera.ToString()} 启用吹气绑定{EnableBindBlow.ToString()}";
|
||
//}
|
||
}
|
||
|
||
#region 源程序运行调用类，未复制完，太复杂注释掉
|
||
|
||
public class ResponseMessage
|
||
{
|
||
public ResponseMessage() { }
|
||
|
||
public int Code { get; set; }
|
||
|
||
public int Result { get; set; } = 1;
|
||
|
||
public string Message { get; set; }
|
||
|
||
public string DataJson { get; set; }
|
||
|
||
[JsonIgnore]
|
||
public object DataObj { get; set; } = null;
|
||
|
||
/// <summary>
|
||
/// 执行结果数据集合
|
||
/// </summary>
|
||
public List<int> DataList { get; set; } = new List<int>();
|
||
|
||
public void GetMessageFromException(Exception ex, int code = 9999)
|
||
{
|
||
Code = code;
|
||
//Message = ex.GetExceptionMessage();
|
||
|
||
Result = -1;
|
||
}
|
||
|
||
public ResponseMessage(int result)
|
||
{
|
||
Result = result;
|
||
}
|
||
|
||
public ResponseMessage(bool resultFlag, List<int> datas = null)
|
||
{
|
||
Result = resultFlag ? 1 : -1;
|
||
|
||
if (datas != null)
|
||
{
|
||
DataList = new List<int>(datas);
|
||
}
|
||
}
|
||
|
||
public ResponseMessage(int resultFlag, List<int> datas = null)
|
||
{
|
||
Result = resultFlag;
|
||
|
||
if (datas != null)
|
||
{
|
||
DataList = new List<int>(datas);
|
||
}
|
||
}
|
||
|
||
public ResponseMessage(bool result, string msg)
|
||
{
|
||
Result = result ? 1 : -1;
|
||
Message = msg;
|
||
}
|
||
|
||
public string GetDisplayText()
|
||
{
|
||
return $"{Result} | {(DataList.Count > 0 ? string.Join(" ", DataList) : "NA")}";
|
||
}
|
||
}
|
||
|
||
public interface IOperationConfig //: IOperationResult
|
||
{
|
||
/// <summary>
|
||
/// 发生异常时的重新尝试次数
|
||
/// </summary>
|
||
int ReTryTimes { get; set; }
|
||
|
||
/// <summary>
|
||
/// 输入参数
|
||
/// </summary>
|
||
List<int> InputPara { get; set; }
|
||
|
||
int TriggerValue { get; set; }
|
||
|
||
/// <summary>
|
||
/// 当异常发生时的异常反馈值
|
||
/// </summary>
|
||
int ExceptionValue { get; set; }
|
||
|
||
/// <summary>
|
||
/// 指示该操作的监视配置来源
|
||
/// </summary>
|
||
string MonitorSetId { get; set; }
|
||
|
||
/// <summary>
|
||
/// 调用该操作配置的设备Id
|
||
/// </summary>
|
||
string ExecuteDeviceId { get; set; }
|
||
|
||
/// <summary>
|
||
/// 操作执行后部分输出结果，目前拟采用序列化后的字符串方式保存
|
||
/// </summary>
|
||
string OutputData { get; set; }
|
||
}
|
||
|
||
|
||
public class SolidMotionCardOperationConfigBase : OperationConfigBase
|
||
{
|
||
[Category("板卡操作")]
|
||
[Description("板卡操作配置基类集合，依次执行")]
|
||
|
||
public List<SolidMotionCardOperationSet> OperationCollection { get; set; } = new List<SolidMotionCardOperationSet>();
|
||
|
||
|
||
}
|
||
|
||
public class OperationConfigBase : IOperationConfig//, ISourceDevice
|
||
{
|
||
/// <summary>
|
||
/// 输入参数
|
||
/// </summary>
|
||
[JsonIgnore]
|
||
[Category("输入配置")]
|
||
[Description("输入参数配置")]
|
||
[DisplayName("输入参数")]
|
||
//[TypeConverter(typeof(SimpleCollectionConvert<int>))]
|
||
public virtual List<int> InputPara { get; set; } = new List<int>();
|
||
|
||
/// <summary>
|
||
/// 异常反馈值
|
||
/// </summary>
|
||
[Category("异常反馈设置")]
|
||
[Description("异常反馈值")]
|
||
[DisplayName("异常反馈值")]
|
||
public virtual int ExceptionValue { get; set; } = 0;
|
||
|
||
/// <summary>
|
||
/// 发生异常时的重新尝试次数
|
||
/// </summary>
|
||
[Category("异常反馈设置")]
|
||
[Description("发生异常时的重新尝试次数")]
|
||
[DisplayName("重试次数")]
|
||
public virtual int ReTryTimes { get; set; } = 3;
|
||
|
||
[Browsable(false)]
|
||
public string MonitorSetId { get; set; } = "";
|
||
|
||
[Browsable(false)]
|
||
[JsonIgnore]
|
||
public virtual string ExecuteDeviceId { get; set; } = "";
|
||
|
||
//[Browsable(false)]
|
||
//[JsonIgnore]
|
||
//public virtual string SourceDeviceId { get; set; } = "";
|
||
|
||
[Browsable(false)]
|
||
[JsonIgnore]
|
||
public virtual string OutputData { get; set; } = "";
|
||
|
||
[Browsable(false)]
|
||
[JsonIgnore]
|
||
public virtual int TriggerValue { get; set; }
|
||
}
|
||
|
||
public class SolidMotionCardOperationSet : IOOperationConfigBase
|
||
{
|
||
#region Ignore
|
||
[JsonIgnore]
|
||
[Browsable(false)]
|
||
public override List<int> InputPara { get; set; } = new List<int>();
|
||
|
||
/// <summary>
|
||
/// 异常反馈值
|
||
/// </summary>
|
||
[JsonIgnore]
|
||
[Browsable(false)]
|
||
public override int ExceptionValue { get; set; } = 0;
|
||
|
||
/// <summary>
|
||
/// 发生异常时的重新尝试次数
|
||
/// </summary>
|
||
[JsonIgnore]
|
||
[Browsable(false)]
|
||
public override int ReTryTimes { get; set; } = 1;
|
||
#endregion
|
||
|
||
[Category("2.板卡运动配置")]
|
||
[DisplayName("运动配置集合")]
|
||
[Description("MovingOps：多轴并发，运动配置集合")]
|
||
public List<MovingOption> MovingOps { get; set; } = new List<MovingOption>();
|
||
|
||
[Category("5.操作延时")]
|
||
[DisplayName("操作前延时")]
|
||
[Description("操作前延时，单位ms")]
|
||
public override int DelayBefore { get; set; } = 0;
|
||
|
||
[Category("5.操作延时")]
|
||
[DisplayName("操作后延时")]
|
||
[Description("操作后延时，单位ms")]
|
||
public override int DelayAfter { get; set; } = 0;
|
||
|
||
|
||
}
|
||
|
||
public class IOOperationConfigBase : OperationConfigBase
|
||
{
|
||
[Category("\t\t\tIO操作配置")]
|
||
[DisplayName("1.IO预检查")]
|
||
[Description("IO预检查定义集合")]
|
||
|
||
public List<IOOperationItem> PreCheckIOCollection { get; set; } = new List<IOOperationItem>();
|
||
|
||
[Category("\t\t\tIO操作配置")]
|
||
[Description("超时设置，单位：ms")]
|
||
[DisplayName("2.IO预检查超时")]
|
||
public int PreCheckIOTimeout { get; set; } = 0;
|
||
|
||
[Category("\t\t\tIO操作配置")]
|
||
[DisplayName("3.IO输出")]
|
||
[Description("IO输出定义集合")]
|
||
public List<IOOperationItem> IOOutputCollection { get; set; } = new List<IOOperationItem>();
|
||
|
||
[Category("\t\t\tIO操作配置")]
|
||
[DisplayName("4.IO输出确认")]
|
||
[Description("IO确认定义集合")]
|
||
public List<IOOperationItem> IOConfirmCollection { get; set; } = new List<IOOperationItem>();
|
||
|
||
[Category("\t\t\tIO操作配置")]
|
||
[Description("超时设置，单位：ms")]
|
||
[DisplayName("5.IO输出确认超时")]
|
||
public int IOConfirmTimeout { get; set; } = 0;
|
||
|
||
[Category("\t\t\tIO操作配置")]
|
||
[Description("IO操作前延时，单位ms")]
|
||
public virtual int DelayBefore { get; set; } = 0;
|
||
|
||
[Category("\t\t\tIO操作配置")]
|
||
[Description("IO操作后延时，单位ms")]
|
||
public virtual int DelayAfter { get; set; } = 0;
|
||
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// IO操作对象
|
||
/// </summary>
|
||
public class IOOperationItem
|
||
{
|
||
[Category("IO操作配置")]
|
||
[Description("需要操作的IO")]
|
||
public IODefinition IOItem { get; set; } = new IODefinition();
|
||
|
||
[Category("IO操作配置")]
|
||
[Description("需要操作的IO的状态")]
|
||
public IOValue CheckValue
|
||
{
|
||
get => IOItem.IOValue;
|
||
set => IOItem.IOValue = value;
|
||
}
|
||
|
||
//[Browsable(false)]
|
||
//[JsonIgnore]
|
||
public List<IODefinition> IOItemSource = new List<IODefinition>();
|
||
|
||
//public string GetDisplayText()
|
||
//{
|
||
// return IOItem.IODesc + "-" + CheckValue.GetEnumDescription();
|
||
//}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 运动对象
|
||
/// </summary>
|
||
public class MovingOption
|
||
{
|
||
[Category("运动配置")]
|
||
[DisplayName("运动轴索引")]
|
||
[Description("AxisIndex：运动轴索引")]
|
||
// [TypeConverter(typeof(AxisIndexConvert))]
|
||
public int AxisIndex { get; set; }
|
||
|
||
[Category("运动配置")]
|
||
[DisplayName("运动模式")]
|
||
[Description("MoveMode：运动模式")]
|
||
public MotionMode MoveMode { get; set; } = MotionMode.P2P;
|
||
|
||
|
||
[Category("运动配置")]
|
||
[DisplayName("运动方向")]
|
||
[Description("MoveDir：运动方向")]
|
||
public PulseMode MoveDir { get; set; } = PulseMode.Pulse_Dir_H;
|
||
|
||
|
||
[Category("运动配置")]
|
||
[DisplayName("点位运动误差带")]
|
||
[Description("点位运动误差带，单位plus")]
|
||
public int ErrorBand { get; set; } = 20;
|
||
|
||
[Category("运动配置")]
|
||
[DisplayName("是否绝对运动")]
|
||
[Description("IsAbsolute：是否绝对运动")]
|
||
public bool IsAbsolute { get; set; } = true;
|
||
|
||
[Category("运动配置")]
|
||
[DisplayName("目的地")]
|
||
[Description("Destination：目的地")]
|
||
public int Destination { get; set; }
|
||
|
||
[Category("运动配置")]
|
||
[DisplayName("备注")]
|
||
[Description("Remark：备注")]
|
||
public string Remark { get; set; }
|
||
|
||
[Category("运动配置")]
|
||
[DisplayName("速度参数")]
|
||
[Description("VelocityPara：速度参数")]
|
||
public VelocityPara VelocityPara { get; set; } = new VelocityPara();
|
||
|
||
|
||
|
||
|
||
[Category("运动配置")]
|
||
[Description("超时设置，单位：ms")]
|
||
[DisplayName("运动超时")]
|
||
public int MovingTimeout { get; set; } = 0;
|
||
|
||
internal List<AxisSetting> _axisSettingList = new List<AxisSetting>();
|
||
|
||
public void SetAxisSetting(List<AxisSetting> settings)
|
||
{
|
||
if (settings != null)
|
||
_axisSettingList = settings;
|
||
}
|
||
|
||
public string GetDisplayText()
|
||
{
|
||
//string axisName = AxisIndexStr;
|
||
string axisName = AxisIndex.ToString();
|
||
var axisSet = _axisSettingList.FirstOrDefault(a => a.AxisIndex == AxisIndex);
|
||
if (axisSet != null)
|
||
{
|
||
axisName += ("-" + axisSet.AxisName);
|
||
}
|
||
return axisName + "," + MoveMode.ToString() + "," + (IsAbsolute ? "Abs" : "Rel") + "," + Destination;
|
||
}
|
||
//public event PropertyChangedEventHandler PropertyChanged;
|
||
}
|
||
|
||
public class SolidMotionOperationCollection : OperationConfigBase
|
||
{
|
||
[Category("运动配置")]
|
||
[DisplayName("运动配置集合")]
|
||
[Description("MovingOps：多轴并发，运动配置集合")]
|
||
public List<MovingOption> MovingOps { get; set; } = new List<MovingOption>();
|
||
|
||
[Category("运动配置")]
|
||
[Description("多轴并发运动超时设置，单位：s")]
|
||
[DisplayName("多轴并发运动超时")]
|
||
public int MovingOpsTimeout { get; set; } = 60;
|
||
|
||
|
||
}
|
||
#endregion
|
||
|
||
}
|