RealSys.MotionPlat/Rs.Motion/Leisai/LeisaiCardManager.cs

using GTN;
using gts;
using Rs.DataAccess;
using Rs.Framework;
using Rs.Motion.Base;
using Rs.Motion.Ztm;
using System;
using System.Collections.Generic;
using System.Data;
using System.Diagnostics;
using System.IO;
using System.Linq;
using System.Net.NetworkInformation;
using System.Text;
using System.Threading.Tasks;
using csLTDMC;

namespace Rs.Motion.Leisai
{
    /// <summary>
    /// 蕾塞脉冲卡
    /// </summary>
    public class LeisaiCardManager : ICardManager
    {
        /// <summary>
        /// 执行底层接口的返回值
        /// </summary>
        private short apiResult = 0;
        /// <summary>
        /// 保存一共有多少张卡
        /// </summary>
        Dictionary<ushort,ICard> cardDic= new Dictionary<ushort,ICard>();
        private LeisaiCardManager() { 
        
        }

        private static LeisaiCardManager instance;
        public static LeisaiCardManager Instance
        {
           get 
            { 
                if(instance==null)
                {
                    instance = new LeisaiCardManager();
                }

                return instance;
            }
        }

        public override IIOCard AddIoCard(int cardID, string name, string vender, bool isEthercat, ushort inNum, ushort outNum, int slaveID)
        {

            string filename = string.Empty;
            LeisaiIOCard ioCard = new LeisaiIOCard();
            if(vender== "LeisaiPulseEx")
            {
                //先打开卡
                apiResult = LTDMC.nmc_set_connect_state((ushort)cardID, (ushort)slaveID, 1, 0);
                if(apiResult== 0)
                {
                    LogHelper.Debug($"打开扩展卡{slaveID-1}成功");
                }
                else
                {
                    LogHelper.Debug($"打开扩展卡{slaveID - 1}失败");
                }
                filename = $"config/motion/io/LeisaiPulseEx{cardID}.xml";
            }
            else
            {
                filename = $"config/motion/io/leisai{cardID}.xml";
            }
            //string filename = $"config/motion/io/gugao{cardID}.xml";
            if (!File.Exists(filename))
            {
                ioCard.CardID = (ushort)cardID;
                ioCard.Name = name;
                ioCard.Vender = vender;
                ioCard.IsEtherCat = isEthercat;
                ioCard.SlaveID = (ushort)slaveID;
                ioCard.Init((short)cardID,inNum, outNum, (ushort)slaveID);
                bool suc = XmlSerializerHelper.Instance.Serialize<LeisaiIOCard>(filename, ioCard);
            }
            else
                XmlSerializerHelper.Instance.Deserialize<LeisaiIOCard>(filename, out ioCard);
            if (ioCard != null)
            {
                //ztmIOCard.SetMc(0);
                //ioCards.Add(ztmIOCard);
                //Add(ztmIOCard);
            }
            return ioCard;
        }

        /// <summary>
        /// 同一类卡统一初始化
        /// </summary>
        /// <returns></returns>
        public override ErrorCode Init()
        {
            SqliteHelper db = new SqliteHelper();
            DataTable dt = db.GetDataTable("select * from motioncard where vender='leisai' and enable=1 order by id asc");
            if(dt!=null&&dt.Rows.Count>0)
            {
                MessageQueue.Instance.Insert($"have {dt.Rows.Count} card need init");
                foreach (DataRow row in dt.Rows)
                {
                    ushort cardid = ushort.Parse(row["cardid"].ToString());
                    //打开运动控制卡
                    apiResult = LTDMC.dmc_board_init_onecard(cardid);
                    if (apiResult <= 0)
                    {
                        MessageQueue.Instance.Warn($"{apiResult} = LTDMC.dmc_board_init_onecard({cardid});");
                        return ErrorCode.CardInitFail;
                    }
                    else
                    {
                        //加载配置文件
                        if(File.Exists($"leisai{cardid}.ini"))
                        {
                            apiResult = LTDMC.dmc_download_configfile(ushort.Parse(row["cardid"].ToString()), $"leisai{cardid}.ini");
                            LogHelper.Debug($"加载蕾塞配置文件leisai{cardid},ret={apiResult}");
                        }
                        MessageQueue.Instance.Insert($"{apiResult} = LTDMC.dmc_download_configfile({ushort.Parse(row["cardid"].ToString())}, $\"leisai{{cardid}}.ini\");");
                    }
                }
            }
            else
            {
                return ErrorCode.CardNotExist;
            }
            IsInitialized = true;
            return ErrorCode.Ok;
        }

        public ICard GetCard(ushort cardID)
        {

            ICard card;
            if (cardDic.ContainsKey((ushort)cardID)) return cardDic[(ushort)cardID];
            card = new LeisaiCard(cardID, 8, $"leisai{cardID}.xml");
            card.Init();
            if(!cardDic.ContainsKey((ushort)cardID))
            {
                cardDic.Add((ushort)cardID, card);
            }
            return card;
        }
    }
}