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增加对固高脉冲卡IO的支持

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master
lhiven 2 years ago
parent c2adb918cb
commit 65387f6f9b
2 changed files with 173 additions and 133 deletions
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12
Rs.Motion/GugaoEcat/ECatIO.cs
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@ -30,7 +30,7 @@ namespace Rs.Motion.GugaoEcat
/// </summary>
public bool IsEtherCat { get; set; } = true;
public virtual void Init(ushort inCount, ushort outCount, ushort slaveNo)
public virtual void Init(ushort inCount, ushort outCount, ushort slaveNo,short cardID=0)
{
}
@ -48,7 +48,7 @@ namespace Rs.Motion.GugaoEcat
}
public override void Init(ushort inCount, ushort outCount, ushort slaveNo)
public override void Init(ushort inCount, ushort outCount, ushort slaveNo, short cardID = 0)
{
ushort i = 0;
for (; i < outCount; i++)
@ -78,13 +78,14 @@ namespace Rs.Motion.GugaoEcat
[XmlInclude(typeof(GLinkIO))]
public class GLinkIOCard: IIOCard
{
public override void Init(ushort inCount, ushort outCount, ushort slaveNo)
public override void Init(ushort inCount, ushort outCount, ushort slaveNo,short cardID=0)
{
for (ushort i = 0; i < outCount; i++)
{
GLinkIO io = new GLinkIO();
io.Name = "Out" + i+ "_"+ slaveNo;
io.Index = i;
io.CardID = cardID;
DOut.Add(io);
}
for (ushort i = 0; i < inCount; i++)
@ -92,6 +93,7 @@ namespace Rs.Motion.GugaoEcat
GLinkIO io = new GLinkIO();
io.Name = "In" + i + "_" + slaveNo;
io.Index = i;
io.CardID = cardID;
DIn.Add(io);
}
}
@ -100,6 +102,7 @@ namespace Rs.Motion.GugaoEcat
public class IIO
{
public short CardID { get; set; } = 0;
public ushort Index { get; set; }
@ -111,7 +114,8 @@ namespace Rs.Motion.GugaoEcat
}
public class GLinkIO:IIO
{
[XmlElement]
public short CardID { get; set; } = 0;
}
public class ECatIO:IIO

294
Rs.Motion/IoManager.cs
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@ -1,4 +1,5 @@
using GTN;
using gts;
using Rs.Framework;
using Rs.Motion.GugaoEcat;
using System;
@ -39,117 +40,117 @@ namespace Rs.Motion
ECatIOCard card1 = null;
ECatIOCard cardIn2= null;
//第一张卡
////第一张卡
string filename = "config/motion/io/ecatio_5_32_0.xml";
if (!File.Exists(filename))
{
cardIn2 = new ECatIOCard();
//if (!File.Exists(filename))
//{
// cardIn2 = new ECatIOCard();
cardIn2.Name = "EC4-3200A(1号卡)";
cardIn2.Init(32, 0, 5);
bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, cardIn2);
}
else
XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out cardIn2);
if (cardIn2 != null)
{
cardIn2.Vender = "Gugao";
ioCards.Add(cardIn2);
Add(cardIn2);
}
// cardIn2.Name = "EC4-3200A(1号卡)";
// cardIn2.Init(32, 0, 5);
// bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, cardIn2);
//}
//else
// XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out cardIn2);
//if (cardIn2 != null)
//{
// cardIn2.Vender = "Gugao";
// ioCards.Add(cardIn2);
// Add(cardIn2);
//}
//第二张卡
////第二张卡
filename = "config/motion/io/ecatio_6_0_32.xml";
if (!File.Exists(filename))
{
card1 = new ECatIOCard();
card1.Name = "EC4-3200A(1号卡)";
card1.Init(0, 32, 6);
bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, card1);
}
else
XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out card1);
if (card1 != null)
{
card1.Vender = "Gugao";
ioCards.Add(card1);
Add(card1);
}
// filename = "config/motion/io/ecatio_6_0_32.xml";
//if (!File.Exists(filename))
//{
// card1 = new ECatIOCard();
// card1.Name = "EC4-3200A(1号卡)";
// card1.Init(0, 32, 6);
// bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, card1);
//}
//else
// XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out card1);
//if (card1 != null)
//{
// card1.Vender = "Gugao";
// ioCards.Add(card1);
// Add(card1);
//}
//第三张卡
////第三张卡
filename = "config/motion/io/ecatio_7_16_16.xml";
if (!File.Exists(filename))
{
card1 = new ECatIOCard();
card1.Name = "EC4-1616(3号卡)";
card1.Init(16, 16, 7);
bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, card1);
}
else
XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out card1);
if (card1 != null)
{
card1.Vender = "Gugao";
ioCards.Add(card1);
Add(card1);
}
//filename = "config/motion/io/ecatio_7_16_16.xml";
//if (!File.Exists(filename))
//{
// card1 = new ECatIOCard();
// card1.Name = "EC4-1616(3号卡)";
// card1.Init(16, 16, 7);
// bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, card1);
//}
//else
// XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out card1);
//if (card1 != null)
//{
// card1.Vender = "Gugao";
// ioCards.Add(card1);
// Add(card1);
//}
//第四张卡
////第四张卡
filename = "config/motion/io/ecatio_8_32_0.xml";
if (!File.Exists(filename))
{
card1 = new ECatIOCard();
card1.Name = "EC4-3200A(4号卡)";
card1.Init(32, 0, 8);
bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, card1);
}
else
XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out card1);
if (card1 != null)
{
card1.Vender = "Gugao";
ioCards.Add(card1);
Add(card1);
}
//第五张卡
filename = "config/motion/io/ecatio_9_0_32.xml";
if (!File.Exists(filename))
{
card1 = new ECatIOCard();
card1.Name = "EC4-0032(5号卡)";
card1.Init(0, 32, 9);
bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, card1);
}
else
XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out card1);
if (card1 != null)
{
card1.Vender = "Gugao";
ioCards.Add(card1);
Add(card1);
}
//filename = "config/motion/io/ecatio_8_32_0.xml";
//if (!File.Exists(filename))
//{
// card1 = new ECatIOCard();
// card1.Name = "EC4-3200A(4号卡)";
// card1.Init(32, 0, 8);
// bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, card1);
//}
//else
// XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out card1);
//if (card1 != null)
//{
// card1.Vender = "Gugao";
// ioCards.Add(card1);
// Add(card1);
//}
////第五张卡
//filename = "config/motion/io/ecatio_9_0_32.xml";
//if (!File.Exists(filename))
//{
// card1 = new ECatIOCard();
// card1.Name = "EC4-0032(5号卡)";
// card1.Init(0, 32, 9);
// bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, card1);
//}
//else
// XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out card1);
//if (card1 != null)
//{
// card1.Vender = "Gugao";
// ioCards.Add(card1);
// Add(card1);
//}
//第六张卡
filename = "config/motion/io/ecatio_10_16_16.xml";
if (!File.Exists(filename))
{
card1 = new ECatIOCard();
card1.Name = "EC4-1616(6号卡)";
card1.Init(16, 16, 10);
bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, card1);
}
else
XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out card1);
if (card1 != null)
{
card1.Vender = "Gugao";
ioCards.Add(card1);
Add(card1);
}
////第六张卡
//filename = "config/motion/io/ecatio_10_16_16.xml";
//if (!File.Exists(filename))
//{
// card1 = new ECatIOCard();
// card1.Name = "EC4-1616(6号卡)";
// card1.Init(16, 16, 10);
// bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, card1);
//}
//else
// XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out card1);
//if (card1 != null)
//{
// card1.Vender = "Gugao";
// ioCards.Add(card1);
// Add(card1);
//}
GLinkIOCard iocard = null;
@ -159,6 +160,8 @@ namespace Rs.Motion
{
iocard = new GLinkIOCard();
iocard.Name = "GLink0";
iocard.CardType = 0;
iocard.IsEtherCat = false;
iocard.Init(16, 16, 0);
bool suc = XmlSerializerHelper.Instance.Serialize<GLinkIOCard>(filename, iocard);
}
@ -168,15 +171,15 @@ namespace Rs.Motion
{
iocard.Vender = "Gugao";
ioCards.Add(iocard);
foreach (var item in iocard.DIn)
{
item.IsReverse = false;
}
//foreach (var item in iocard.DIn)
//{
// item.IsReverse = false;
//}
foreach (var item in iocard.DOut)
{
item.IsReverse = true;
}
//foreach (var item in iocard.DOut)
//{
// item.IsReverse = true;
//}
Add(iocard);
}
}
@ -203,17 +206,30 @@ namespace Rs.Motion
if(ioDic.ContainsKey(name))
{
IIO io = ioDic[name];
if(io.Card.Vender=="Gugao"&&io.Card.IsEtherCat)
if(io.Card.CardType==1)//总线
{
ECatIO eio = (ECatIO)io;
apiResult = mc_ecat.GTN_EcatIOBitReadInput(eio.Core, eio.SlaveNo, eio.Offset, eio.Index, out byte pValue);
if (apiResult == 0)
return pValue;
if(io.Card.IsEtherCat)
{
ECatIO eio = (ECatIO)io;
apiResult = mc_ecat.GTN_EcatIOBitReadInput(eio.Core, eio.SlaveNo, eio.Offset, eio.Index, out byte pValue);
if (apiResult == 0)
return pValue;
}
else
{
GLinkIO eio = (GLinkIO)io;
apiResult = mc_ecat.GTN_GetDi(1, mc_ecat.MC_GPI, out Int32 value);
if (apiResult == 0)
{
byte pValue = (byte)(~(value >> eio.Index) & 0x01);
return pValue;
}
}
}
else if(io.Card.Vender == "Gugao" && !io.Card.IsEtherCat)
else
{
GLinkIO eio = (GLinkIO)io;
apiResult = mc_ecat.GTN_GetDi(1, mc_ecat.MC_GPI, out Int32 value);
apiResult = mc_pulse.GT_GetDi((short)io.CardID,mc_pulse.MC_GPI, out int value);
if (apiResult == 0)
{
byte pValue = (byte)(~(value >> eio.Index) & 0x01);
@ -230,18 +246,30 @@ namespace Rs.Motion
if (ioDic.ContainsKey(name))
{
IIO io = ioDic[name];
if (io.Card.Vender == "Gugao" && io.Card.IsEtherCat)
if (io.Card.CardType==1)
{
ECatIO eio = (ECatIO)io;
apiResult = mc_ecat.GTN_EcatIOBitReadOutput(eio.Core, eio.SlaveNo, eio.Offset, eio.Index, out byte pValue);
if (apiResult == 0)
return pValue;
if(io.Card.IsEtherCat)
{
ECatIO eio = (ECatIO)io;
apiResult = mc_ecat.GTN_EcatIOBitReadOutput(eio.Core, eio.SlaveNo, eio.Offset, eio.Index, out byte pValue);
if (apiResult == 0)
return pValue;
}
else
{
GLinkIO eio = (GLinkIO)io;
apiResult = mc_ecat.GTN_GetDo(1, mc_ecat.MC_GPO, out Int32 value);
if (apiResult == 0)
{
byte pValue = (byte)(~(value >> eio.Index) & 0x01);
return pValue;
}
}
}
else if (io.Card.Vender == "Gugao" && !io.Card.IsEtherCat)
{
GLinkIO eio = (GLinkIO)io;
apiResult = mc_ecat.GTN_GetDo(1, mc_ecat.MC_GPO, out Int32 value);
apiResult = mc_pulse.GT_GetDo(io.CardID, mc_pulse.MC_GPO, out Int32 value);
if (apiResult == 0)
{
byte pValue = (byte)(~(value >> eio.Index) & 0x01);
@ -269,17 +297,25 @@ namespace Rs.Motion
{
value = (byte)(~(value & 0x01) & 0x01);//取反最后一位
}
if(io.Card.Vender=="Gugao" && io.Card.IsEtherCat)
if(io.Card.CardType==1)
{
ECatIO eio = (ECatIO)io;
apiResult = mc_ecat.GTN_EcatIOBitWriteOutput(eio.Core, eio.SlaveNo, eio.Offset, (short)eio.Index, value);
if (apiResult == 0)
return 0;
if(io.Card.IsEtherCat)
{
ECatIO eio = (ECatIO)io;
apiResult = mc_ecat.GTN_EcatIOBitWriteOutput(eio.Core, eio.SlaveNo, eio.Offset, (short)eio.Index, value);
if (apiResult == 0)
return 0;
}
else
{
GLinkIO gio = (GLinkIO)io;
mc_ecat.GTN_SetDoBit(1, mc_ecat.MC_GPO, (short)(gio.Index + 1), value);
}
}
else if (io.Card.Vender == "Gugao" && !io.Card.IsEtherCat)
{
GLinkIO gio = (GLinkIO)io;
mc_ecat.GTN_SetDoBit(1, mc_ecat.MC_GPO, (short)(gio.Index+1), value);
mc_pulse.GT_SetDoBit(gio.CardID, mc_pulse.MC_GPO, (short)(gio.Index + 1), value);
}
}
return -1;

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