增加对固高脉冲卡的支持

Rs.Motion/GugaoPulse/GugaoPulseCard.cs

@@ -0,0 +1,111 @@
+using Rs.Framework;
+using Rs.Motion.Base;
+using Rs.Motion.Base.Config;
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Xml.Serialization;
+
+namespace Rs.Motion.GugaoPulse
+{
+    public class GugaoPulseCard:ICard
+    {
+		public GugaoPulseCard(ushort cardID,ushort axisCount,string cfgName) 
+		{ 
+			CardID= cardID;
+			AxisCount= axisCount;
+			CfgName= cfgName;
+			Config = new CardConfig();
+		}
+
+		private ushort _CardID;
+
+		/// <summary>
+		/// 卡编号
+		/// </summary>
+		[XmlIgnore]
+		public ushort CardID
+        {
+			get { return _CardID; }
+			set { _CardID = value; }
+		}
+
+
+		private ushort _AxisCount;
+        [XmlIgnore]
+        public ushort AxisCount
+        {
+			get { return _AxisCount; }
+			set { _AxisCount = value; }
+		}
+
+		private string _CfgName;
+        [XmlIgnore]
+        public string CfgName
+		{
+			get { return _CfgName; }
+			set { _CfgName = value; }
+		}
+
+        public override ErrorCode Init()
+		{
+			string baseDir = AppDomain.CurrentDomain.BaseDirectory;
+			string filePath=Path.Combine(baseDir,"Config","Motion", CfgName);
+			//检测文件夹是否存在，不存在则创建
+			if(!Directory.Exists(Path.GetDirectoryName(filePath)))
+			{
+				Directory.CreateDirectory(Path.GetDirectoryName(filePath));
+			}
+			//判断文件是否存在,如果不存在配置文件，则生成配置文件
+			if(!File.Exists(filePath))
+			{
+				Config.Init(CardID, AxisCount,1);
+				bool suc = XmlSerializerHelper.Instance.Serialize(filePath, Config);
+				if(!suc)
+				{
+					return ErrorCode.CardLoadConfigFail;
+				}
+			}
+			else
+			{
+                bool suc = XmlSerializerHelper.Instance.Deserialize<CardConfig>(filePath ,out CardConfig config);
+				Config=config;
+				
+            }
+            InitAxis();
+            return ErrorCode.Ok;
+        }
+
+		public override ErrorCode Save()
+		{
+			if(Config != null)
+			{
+                string baseDir = AppDomain.CurrentDomain.BaseDirectory;
+                string filePath = Path.Combine(baseDir, "Config", "Motion", CfgName);
+                if (File.Exists(filePath))
+				{
+					File.Delete(filePath);
+                    XmlSerializerHelper.Instance.Serialize(filePath, Config);
+					return ErrorCode.Ok;
+                }
+            }
+			return ErrorCode.CardNotInit;
+		}
+
+		private ErrorCode InitAxis()
+		{
+			for(int i=0; i<AxisCount; i++)
+			{
+				IAxis axis = new GugaoPulseAxis(Config.AxisConfigs[i]);
+				axis.Card = this;
+				axis.Init();
+				AxisIdDic.Add(axis.Config.AxisId, axis);
+				AxisNameDic.Add(axis.Config.AxisName, axis);
+			}
+			return ErrorCode.Ok;
+		}
+	}
+}

Rs.Motion/GugaoPulse/GugaoPulseCardManager.cs

@@ -0,0 +1,87 @@
+using GTN;
+using gts;
+using Rs.Framework;
+using Rs.Motion.Base;
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Linq;
+using System.Net.NetworkInformation;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Rs.Motion.GugaoPulse
+{
+    /// <summary>
+    /// 固高脉冲卡
+    /// </summary>
+    public class GugaoPulseCardManager : ICardManager
+    {
+        /// <summary>
+        /// 执行底层接口的返回值
+        /// </summary>
+        private short apiResult = 0;
+        private short core = 1;
+        /// <summary>
+        /// 保存一共有多少张卡
+        /// </summary>
+        Dictionary<ushort,ICard> cardDic= new Dictionary<ushort,ICard>();
+        private GugaoPulseCardManager() { 
+        
+        }
+
+        private static GugaoPulseCardManager instance;
+        public static GugaoPulseCardManager Instance
+        {
+           get 
+            { 
+                if(instance==null)
+                {
+                    instance = new GugaoPulseCardManager();
+                }
+
+                return instance;
+            }
+        }
+
+        /// <summary>
+        /// 同一类卡统一初始化
+        /// </summary>
+        /// <returns></returns>
+        public override ErrorCode Init()
+        {
+
+            //打开运动控制卡
+            apiResult = mc_pulse.GT_Open(0, 0, 1);
+            if(apiResult!= 0)
+            {
+                return ErrorCode.CardInitFail;
+            }
+            //清楚报警和限位
+            apiResult = mc_pulse.GT_ClrSts(0, 1, 8);
+            if (apiResult != 0)
+            {
+                return ErrorCode.Fail;
+            }
+            IsInitialized = true;
+            return ErrorCode.Ok;
+        }
+
+        public ICard GetCard(ushort cardID)
+        {
+            if(cardDic.ContainsKey(cardID)) return cardDic[cardID];
+            else
+            {
+                if(cardID==0)
+                {
+                    ICard card = new GugaoPulseCard(cardID, 8, "gugao0.xml");
+                    card.Init();
+                    cardDic.Add(cardID, card);
+                    return card;
+                }
+            }
+            return null;
+        }
+
+    }
+}

Rs.Motion/GugaoPulse/IO.cs

@@ -0,0 +1,127 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Xml.Serialization;
+
+namespace Rs.Motion.GugaoPulse
+{
+    public class IIOCard
+    {
+        [XmlElement]
+        public List<IIO> DIn { get; set; } = new List<IIO>();
+        [XmlElement]
+        public List<IIO> DOut { get; set; } = new List<IIO>();
+
+        /// <summary>
+        /// 0glink 1总线
+        /// </summary>
+        public int CardType { get; set; } = 0;
+
+        public string Name { get; set; } = "本地IO";
+        /// <summary>
+        /// 厂家
+        /// </summary>
+        public string Vender { get; set; } = "Gugao";
+
+        /// <summary>
+        /// 是否采用EtherCat通信
+        /// </summary>
+        public bool IsEtherCat { get; set; } = true;
+
+        public virtual void Init(ushort inCount, ushort outCount, ushort slaveNo)
+        {
+
+        }
+    }
+    /// <summary>
+    /// 总线卡
+    /// </summary>
+    [Serializable]
+    [XmlInclude(typeof(IO))]
+    public class ECatIOCard: IIOCard
+    {
+        
+        public ECatIOCard()
+        {
+            
+        }
+
+        public override void Init(ushort inCount, ushort outCount, ushort slaveNo)
+        {
+            ushort i = 0;
+            for (; i < outCount; i++)
+            {
+                IO io = new IO(); 
+                io.SlaveNo = slaveNo;
+                io.Offset = 0;
+                io.Index = i;
+                io.Name = "Out" + i+"_"+slaveNo;
+                DOut.Add(io);
+            }
+            for (; i < outCount + inCount; i++)
+            {
+                IO io = new IO(); 
+                io.SlaveNo = slaveNo;
+                io.Offset = 0;
+                io.Index = i;
+                io.Name = "In" + i + "_" + slaveNo;
+                DIn.Add(io);
+            }
+        }
+    }
+
+    /// <summary>
+    /// GLink卡
+    /// </summary>
+    [XmlInclude(typeof(GLinkIO))]
+    public class GLinkIOCard: IIOCard
+    {
+        public override void Init(ushort inCount, ushort outCount, ushort slaveNo)
+        {
+            for (ushort i = 0; i < outCount; i++)
+            {
+                GLinkIO io = new GLinkIO(); 
+                io.Name = "Out" + i+ "_"+ slaveNo;
+                io.Index = i;
+                DOut.Add(io);
+            }
+            for (ushort i = 0; i < inCount; i++)
+            {
+                GLinkIO io = new GLinkIO(); 
+                io.Name = "In" + i + "_" + slaveNo;
+                io.Index = i;
+                DIn.Add(io);
+            }
+        }
+    }
+
+
+    public class IIO
+    {
+
+        public ushort Index { get; set; }
+
+        public string Name { get; set; }
+
+        public bool IsReverse { get; set; } = false;
+        [XmlIgnore]
+        public IIOCard Card { get; set; }
+    }
+    public class GLinkIO:IIO
+    {
+        
+    }
+
+    public class IO:IIO
+    {
+        [XmlElement]
+        public short Core { get; set; } = 1;
+        [XmlElement]
+        public ushort SlaveNo { get; set; }
+        [XmlElement]
+        public ushort Offset { get; set; }
+       
+    }
+}

Rs.Motion/Rs.Motion.csproj

@@ -54,10 +54,15 @@
     <Compile Include="GugaoEcat\GugaoAxis.cs" />
     <Compile Include="GugaoEcat\GugaoCard.cs" />
     <Compile Include="GugaoEcat\GugaoCardManager.cs" />
+    <Compile Include="GugaoPulse\IO.cs" />
+    <Compile Include="GugaoPulse\GugaoPulseAxis.cs" />
+    <Compile Include="GugaoPulse\GugaoPulseCard.cs" />
+    <Compile Include="GugaoPulse\GugaoPulseCardManager.cs" />
     <Compile Include="Invoke\GugaoECat\config.cs" />
     <Compile Include="Invoke\GugaoECat\gtgl500.cs" />
     <Compile Include="Invoke\GugaoECat\gts.cs" />
     <Compile Include="Invoke\GugaoECat\LookAheadEx.cs" />
+    <Compile Include="Invoke\GugaoPulse\gts.cs" />
     <Compile Include="Invoke\Ztm\ZTM.cs" />
     <Compile Include="IoManager.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />