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325 lines
11 KiB
C#
325 lines
11 KiB
C#
using GTN;
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using gts;
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using Rs.Framework;
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using Rs.Motion.GugaoEcat;
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using System;
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using System.Collections.Generic;
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using System.IO;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace Rs.Motion
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{
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public class IoManager
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{
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private short apiResult = 0;
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List<IIO> ioList = new List<IIO>();
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Dictionary<string, IIO> ioDic = new Dictionary<string, IIO>();
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private List<IIOCard> ioCards = new List<IIOCard>();
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private IoManager() { }
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private static IoManager instance;
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public static IoManager Instance
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{
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get
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{
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if(instance==null)
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instance = new IoManager();
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return instance;
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}
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}
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public List<IIOCard> GetCards()
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{
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return ioCards;
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}
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public void Init()
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{
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ECatIOCard card1 = null;
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ECatIOCard cardIn2= null;
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////第一张卡
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string filename = "config/motion/io/ecatio_5_32_0.xml";
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//if (!File.Exists(filename))
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//{
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// cardIn2 = new ECatIOCard();
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// cardIn2.Name = "EC4-3200A(1号卡)";
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// cardIn2.Init(32, 0, 5);
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// bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, cardIn2);
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//}
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//else
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// XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out cardIn2);
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//if (cardIn2 != null)
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//{
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// cardIn2.Vender = "Gugao";
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// ioCards.Add(cardIn2);
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// Add(cardIn2);
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//}
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////第二张卡
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// filename = "config/motion/io/ecatio_6_0_32.xml";
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//if (!File.Exists(filename))
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//{
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// card1 = new ECatIOCard();
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// card1.Name = "EC4-3200A(1号卡)";
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// card1.Init(0, 32, 6);
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// bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, card1);
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//}
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//else
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// XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out card1);
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//if (card1 != null)
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//{
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// card1.Vender = "Gugao";
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// ioCards.Add(card1);
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// Add(card1);
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//}
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////第三张卡
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//filename = "config/motion/io/ecatio_7_16_16.xml";
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//if (!File.Exists(filename))
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//{
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// card1 = new ECatIOCard();
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// card1.Name = "EC4-1616(3号卡)";
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// card1.Init(16, 16, 7);
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// bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, card1);
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//}
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//else
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// XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out card1);
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//if (card1 != null)
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//{
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// card1.Vender = "Gugao";
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// ioCards.Add(card1);
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// Add(card1);
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//}
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////第四张卡
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//filename = "config/motion/io/ecatio_8_32_0.xml";
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//if (!File.Exists(filename))
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//{
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// card1 = new ECatIOCard();
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// card1.Name = "EC4-3200A(4号卡)";
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// card1.Init(32, 0, 8);
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// bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, card1);
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//}
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//else
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// XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out card1);
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//if (card1 != null)
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//{
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// card1.Vender = "Gugao";
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// ioCards.Add(card1);
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// Add(card1);
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//}
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////第五张卡
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//filename = "config/motion/io/ecatio_9_0_32.xml";
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//if (!File.Exists(filename))
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//{
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// card1 = new ECatIOCard();
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// card1.Name = "EC4-0032(5号卡)";
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// card1.Init(0, 32, 9);
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// bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, card1);
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//}
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//else
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// XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out card1);
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//if (card1 != null)
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//{
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// card1.Vender = "Gugao";
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// ioCards.Add(card1);
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// Add(card1);
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//}
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////第六张卡
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//filename = "config/motion/io/ecatio_10_16_16.xml";
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//if (!File.Exists(filename))
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//{
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// card1 = new ECatIOCard();
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// card1.Name = "EC4-1616(6号卡)";
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// card1.Init(16, 16, 10);
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// bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, card1);
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//}
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//else
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// XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out card1);
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//if (card1 != null)
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//{
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// card1.Vender = "Gugao";
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// ioCards.Add(card1);
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// Add(card1);
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//}
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GLinkIOCard iocard = null;
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filename = "config/motion/io/glinkio.xml";
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if (!File.Exists(filename))
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{
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iocard = new GLinkIOCard();
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iocard.Name = "GLink0";
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iocard.CardType = 0;
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iocard.IsEtherCat = false;
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iocard.Init(16, 16, 0);
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bool suc = XmlSerializerHelper.Instance.Serialize<GLinkIOCard>(filename, iocard);
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}
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else
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XmlSerializerHelper.Instance.Deserialize<GLinkIOCard>(filename, out iocard);
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if (iocard != null)
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{
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iocard.Vender = "Gugao";
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ioCards.Add(iocard);
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//foreach (var item in iocard.DIn)
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//{
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// item.IsReverse = false;
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//}
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//foreach (var item in iocard.DOut)
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//{
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// item.IsReverse = true;
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//}
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Add(iocard);
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}
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}
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void Add(IIOCard card)
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{
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foreach (IIO eCatIO in card.DOut)
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{
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eCatIO.Card = card;
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if (ioDic.ContainsKey(eCatIO.Name))
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continue;
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ioDic.Add(eCatIO.Name, eCatIO);
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}
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foreach (IIO eCatIO in card.DIn)
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{
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eCatIO.Card = card;
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ioDic.Add(eCatIO.Name, eCatIO);
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}
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}
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public short ReadIn(string name)
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{
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if(ioDic.ContainsKey(name))
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{
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IIO io = ioDic[name];
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if(io.Card.CardType==1)//总线
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{
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if(io.Card.IsEtherCat)
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{
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ECatIO eio = (ECatIO)io;
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apiResult = mc_ecat.GTN_EcatIOBitReadInput(eio.Core, eio.SlaveNo, eio.Offset, eio.Index, out byte pValue);
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if (apiResult == 0)
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return pValue;
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}
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else
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{
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GLinkIO eio = (GLinkIO)io;
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apiResult = mc_ecat.GTN_GetDi(1, mc_ecat.MC_GPI, out Int32 value);
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if (apiResult == 0)
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{
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byte pValue = (byte)(~(value >> eio.Index) & 0x01);
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return pValue;
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}
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}
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}
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else
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{
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GLinkIO eio = (GLinkIO)io;
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apiResult = mc_pulse.GT_GetDi((short)io.CardID,mc_pulse.MC_GPI, out int value);
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if (apiResult == 0)
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{
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byte pValue = (byte)(~(value >> eio.Index) & 0x01);
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return pValue;
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}
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}
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}
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return -1;
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}
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public short ReadOut(string name)
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{
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if (ioDic.ContainsKey(name))
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{
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IIO io = ioDic[name];
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if (io.Card.CardType==1)
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{
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if(io.Card.IsEtherCat)
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{
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ECatIO eio = (ECatIO)io;
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apiResult = mc_ecat.GTN_EcatIOBitReadOutput(eio.Core, eio.SlaveNo, eio.Offset, eio.Index, out byte pValue);
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if (apiResult == 0)
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return pValue;
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}
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else
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{
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GLinkIO eio = (GLinkIO)io;
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apiResult = mc_ecat.GTN_GetDo(1, mc_ecat.MC_GPO, out Int32 value);
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if (apiResult == 0)
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{
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byte pValue = (byte)(~(value >> eio.Index) & 0x01);
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return pValue;
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}
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}
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}
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else if (io.Card.Vender == "Gugao" && !io.Card.IsEtherCat)
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{
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GLinkIO eio = (GLinkIO)io;
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apiResult = mc_pulse.GT_GetDo(io.CardID, mc_pulse.MC_GPO, out Int32 value);
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if (apiResult == 0)
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{
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byte pValue = (byte)(~(value >> eio.Index) & 0x01);
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return pValue;
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}
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}
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}
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return -1;
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}
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public short WriteOut(string name,byte value)
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{
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//mc_ecat.GTN_SetDoBit(1, mc_ecat.MC_GPO, 1, 0);
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//mc_ecat.GTN_GetDo(1, mc_ecat.MC_GPO, out Int32 aaa);
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//mc_ecat.GTN_GetDi(1, mc_ecat.MC_GPI, out int ppp);
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if (ioDic.ContainsKey(name))
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{
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IIO io = ioDic[name];
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if(io.IsReverse)
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{
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value = (byte)(~(value & 0x01) & 0x01);//取反最后一位
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}
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if(io.Card.CardType==1)
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{
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if(io.Card.IsEtherCat)
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{
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ECatIO eio = (ECatIO)io;
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apiResult = mc_ecat.GTN_EcatIOBitWriteOutput(eio.Core, eio.SlaveNo, eio.Offset, (short)eio.Index, value);
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if (apiResult == 0)
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return 0;
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}
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else
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{
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GLinkIO gio = (GLinkIO)io;
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mc_ecat.GTN_SetDoBit(1, mc_ecat.MC_GPO, (short)(gio.Index + 1), value);
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}
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}
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else if (io.Card.Vender == "Gugao" && !io.Card.IsEtherCat)
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{
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GLinkIO gio = (GLinkIO)io;
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mc_pulse.GT_SetDoBit(gio.CardID, mc_pulse.MC_GPO, (short)(gio.Index + 1), value);
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}
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}
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return -1;
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}
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}
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}
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