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using csLTDMC;
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using GTN;
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using gts;
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using Rs.DataAccess;
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using Rs.Framework;
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using Rs.Motion.Base;
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using Rs.Motion.GugaoEcat;
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using Rs.Motion.GugaoPulse;
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using Rs.Motion.Leisai;
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using Rs.Motion.Ztm;
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using System;
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using System.Collections.Generic;
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using System.ComponentModel.Design;
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using System.Data;
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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 IoCardFactory
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{
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public static IIOCard CreateIoCard(string vender,DataRow dr)
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{
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switch (vender)
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{
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case "ztm":
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return ZtmCardManager.Instance.AddIoCard(
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int.Parse(dr["CardID"].ToString()),
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dr["CardName"].ToString(),
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dr["vender"].ToString(),
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false,
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ushort.Parse(dr["InNum"].ToString()),
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ushort.Parse(dr["OutNum"].ToString()),
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int.Parse(dr["SlaveID"].ToString()
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));
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case "GugaoPulseExt":
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return GugaoPulseCardManager.Instance.AddIoCard(
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int.Parse(dr["CardID"].ToString()),
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dr["CardName"].ToString(),
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dr["vender"].ToString(),
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false,
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ushort.Parse(dr["InNum"].ToString()),
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ushort.Parse(dr["OutNum"].ToString()),
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int.Parse(dr["SlaveID"].ToString()
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));
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case "GugaoPulse":
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return GugaoPulseCardManager.Instance.AddIoCard(
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int.Parse(dr["CardID"].ToString()),
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dr["CardName"].ToString(),
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dr["vender"].ToString(),
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false,
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ushort.Parse(dr["InNum"].ToString()),
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ushort.Parse(dr["OutNum"].ToString()),
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int.Parse(dr["SlaveID"].ToString()
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));
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case "GugaoEcat":
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return GugaoCardManager.Instance.AddIoCard(
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int.Parse(dr["CardID"].ToString()),
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dr["CardName"].ToString(),
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dr["vender"].ToString(),
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dr["CardName"].ToString().IndexOf("GLink")>=0?false:true,
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ushort.Parse(dr["InNum"].ToString()),
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ushort.Parse(dr["OutNum"].ToString()),
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int.Parse(dr["SlaveID"].ToString()
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));
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case "LeisaiPulse":
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case "LeisaiPulseEx":
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return LeisaiCardManager.Instance.AddIoCard(
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int.Parse(dr["CardID"].ToString()),
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dr["CardName"].ToString(),
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dr["vender"].ToString(),
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false,
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ushort.Parse(dr["InNum"].ToString()),
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ushort.Parse(dr["OutNum"].ToString()),
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int.Parse(dr["SlaveID"].ToString()
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));
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default:return null;
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}
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}
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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 IIOCard GetCard(ushort cardID,string vender="ztm")
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{
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var cards = ioCards.Where(ic => ic.CardID == cardID && ic.Vender.ToLower()==vender);
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if(cards.Count()>0)
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{
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return cards.First();
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}
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return null;
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}
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public void Init()
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{
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IIOCard iIOCard = null;
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SqliteHelper db = new SqliteHelper();
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DataTable dt = db.GetDataTable("select * from io where enable=1 order by sortindex asc");
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if(dt!=null && dt.Rows.Count>0)
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{
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foreach(DataRow dr in dt.Rows)
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{
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iIOCard = IoCardFactory.CreateIoCard(dr["vender"].ToString(), dr);
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if (iIOCard != null)
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{
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Add(iIOCard);
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}
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}
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}
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}
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public IIO GetIO(String ioName)
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{
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if (ioDic.ContainsKey(ioName))
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return ioDic[ioName];
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return null;
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}
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void Add(IIOCard card)
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{
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ioCards.Add(card);
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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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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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}
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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.Vender=="GugaoEcat")
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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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ECatIO eio = (ECatIO)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 if(io.Card.Vender == "GugaoPulse")
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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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if (eio.IsReverse)
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{
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return (short)((~pValue) & 0x01);
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}
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else
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{
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return (short)pValue;
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}
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}
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}
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else if(io.Card.Vender== "GugaoPulseExt")
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{
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GLinkIO eio = (GLinkIO)io;
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apiResult = mc_pulse.GT_GetExtIoValue((short)io.CardID,(short)(io.Card.SlaveID-1), out ushort 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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if (eio.IsReverse)
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{
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return (short)((~pValue) & 0x01);
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}
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else
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{
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return (short)pValue;
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}
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}
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}
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else if (io.Card.Vender.ToLower() == "ztm")
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{
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ZtmIO zio = (ZtmIO)io;
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ushort data = 0;
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apiResult = CSZTM.ZTM.ZT_GetInBit(zio.mc,(short)zio.SlaveNo,(short)zio.Index, ref data);//.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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if(zio.IsReverse)
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{
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return (short)((~data) & 0x01);
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}
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else
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{
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return (short)data;
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}
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}
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}
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else if (io.Card.Vender == "LeisaiPulse")
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{
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LeisaiIO eio = (LeisaiIO)io;
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apiResult = LTDMC.dmc_read_inbit((ushort)io.CardID, eio.Index);
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if (eio.IsReverse)
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{
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return (short)((~apiResult) & 0x01);
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}
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else
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{
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return (short)apiResult;
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}
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}
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else if (io.Card.Vender == "LeisaiPulseEx")
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{
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LeisaiIO eio = (LeisaiIO)io;
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ushort value = 0;
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apiResult = LTDMC.nmc_read_inbit((ushort)io.CardID, eio.SlaveNo, eio.Index,ref value);
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if(apiResult==0)
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{
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if (eio.IsReverse)
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{
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return (short)((~value) & 0x01);
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}
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else
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{
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return (short)value;
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}
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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.Vender == "GugaoEcat")
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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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{
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if (io.IsReverse)
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{
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return (short)((~pValue) & 0x01);
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}
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else
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{
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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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ECatIO eio = (ECatIO)io;
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apiResult = mc_ecat.GTN_GetDo(1, mc_ecat.MC_GPO, out Int32 value);
|
|
|
|
|
|
if (apiResult == 0)
|
|
|
|
|
|
{
|
|
|
|
|
|
byte pValue = (byte)(~(value >> eio.Index) & 0x01);
|
|
|
|
|
|
if(io.IsReverse)
|
|
|
|
|
|
{
|
|
|
|
|
|
return (short)((~pValue) & 0x01);
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
return pValue;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (io.Card.Vender == "GugaoPulse")
|
|
|
|
|
|
{
|
|
|
|
|
|
GLinkIO eio = (GLinkIO)io;
|
|
|
|
|
|
apiResult = mc_pulse.GT_GetDo(io.CardID, mc_pulse.MC_GPO, out Int32 value);
|
|
|
|
|
|
if (apiResult == 0)
|
|
|
|
|
|
{
|
|
|
|
|
|
byte pValue = (byte)((value >> eio.Index) & 0x01);
|
|
|
|
|
|
if (io.IsReverse)
|
|
|
|
|
|
{
|
|
|
|
|
|
return (short)((~pValue) & 0x01);
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
return (short)pValue;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (io.Card.Vender == "GugaoPulseExt")
|
|
|
|
|
|
{
|
|
|
|
|
|
GLinkIO eio = (GLinkIO)io;
|
|
|
|
|
|
apiResult = mc_pulse.GT_GetExtDoValue(io.CardID, (short)(io.Card.SlaveID-1), out ushort value);
|
|
|
|
|
|
if (apiResult == 0)
|
|
|
|
|
|
{
|
|
|
|
|
|
byte pValue = (byte)((value >> eio.Index) & 0x01);
|
|
|
|
|
|
if (io.IsReverse)
|
|
|
|
|
|
{
|
|
|
|
|
|
return (short)((~pValue) & 0x01);
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
return (short)pValue;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (io.Card.Vender.ToLower() == "ztm")
|
|
|
|
|
|
{
|
|
|
|
|
|
ZtmIO zio = (ZtmIO)io;
|
|
|
|
|
|
ushort data = 0;
|
|
|
|
|
|
apiResult = CSZTM.ZTM.ZT_GetOutBit(zio.mc,(short)zio.SlaveNo,(short)zio.Index,ref data);// mc_ecat.GTN_GetDo(1, mc_ecat.MC_GPO, out Int32 value);
|
|
|
|
|
|
if (apiResult == 0)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (zio.IsReverse)
|
|
|
|
|
|
{
|
|
|
|
|
|
return (short)((~data) & 0x01);
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
return (short)data;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (io.Card.Vender == "LeisaiPulse")
|
|
|
|
|
|
{
|
|
|
|
|
|
LeisaiIO eio = (LeisaiIO)io;
|
|
|
|
|
|
apiResult = LTDMC.dmc_read_outbit((ushort)io.CardID, eio.Index);
|
|
|
|
|
|
if (eio.IsReverse)
|
|
|
|
|
|
{
|
|
|
|
|
|
return (short)((~apiResult) & 0x01);
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
return (short)apiResult;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (io.Card.Vender == "LeisaiPulseEx")
|
|
|
|
|
|
{
|
|
|
|
|
|
LeisaiIO eio = (LeisaiIO)io;
|
|
|
|
|
|
ushort ioValue = 0;
|
|
|
|
|
|
apiResult = LTDMC.nmc_read_outbit((ushort)io.CardID,eio.SlaveNo, eio.Index,ref ioValue);
|
|
|
|
|
|
if(apiResult == 0)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (eio.IsReverse)
|
|
|
|
|
|
{
|
|
|
|
|
|
return (short)((~ioValue) & 0x01);
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
return (short)ioValue;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
return -1;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public short WriteOut(string name,byte value)
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
|
|
|
|
//mc_ecat.GTN_SetDoBit(1, mc_ecat.MC_GPO, 1, 0);
|
|
|
|
|
|
|
|
|
|
|
|
//mc_ecat.GTN_GetDo(1, mc_ecat.MC_GPO, out Int32 aaa);
|
|
|
|
|
|
|
|
|
|
|
|
//mc_ecat.GTN_GetDi(1, mc_ecat.MC_GPI, out int ppp);
|
|
|
|
|
|
|
|
|
|
|
|
if (ioDic.ContainsKey(name))
|
|
|
|
|
|
{
|
|
|
|
|
|
IIO io = ioDic[name];
|
|
|
|
|
|
if(io.IsReverse)
|
|
|
|
|
|
{
|
|
|
|
|
|
value = (byte)(~(value & 0x01) & 0x01);//取反最后一位
|
|
|
|
|
|
}
|
|
|
|
|
|
if(io.Card.Vender=="GugaoEcat")
|
|
|
|
|
|
{
|
|
|
|
|
|
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
|
|
|
|
|
|
{
|
|
|
|
|
|
ECatIO gio = (ECatIO)io;
|
|
|
|
|
|
mc_ecat.GTN_SetDoBit(1, mc_ecat.MC_GPO, (short)(gio.Index + 1), value);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (io.Card.Vender == "GugaoPulse")
|
|
|
|
|
|
{
|
|
|
|
|
|
GLinkIO gio = (GLinkIO)io;
|
|
|
|
|
|
apiResult = mc_pulse.GT_SetDoBit(gio.CardID, mc_pulse.MC_GPO, (short)(gio.Index + 1), value);
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (io.Card.Vender == "GugaoPulseExt")
|
|
|
|
|
|
{
|
|
|
|
|
|
GLinkIO gio = (GLinkIO)io;
|
|
|
|
|
|
apiResult = mc_pulse.GT_SetExtIoBit(gio.CardID,(short)(io.Card.SlaveID-1), (short)(gio.Index), value);
|
|
|
|
|
|
}
|
|
|
|
|
|
else if(io.Card.Vender.ToLower()=="ztm")
|
|
|
|
|
|
{
|
|
|
|
|
|
ZtmIO ztm = (ZtmIO)io;
|
|
|
|
|
|
short ret = CSZTM.ZTM.ZT_SetOutBit(ztm.mc,(short) ztm.SlaveNo, (short)ztm.Index, value);
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (io.Card.Vender == "LeisaiPulse")
|
|
|
|
|
|
{
|
|
|
|
|
|
LeisaiIO gio = (LeisaiIO)io;
|
|
|
|
|
|
LTDMC.dmc_write_outbit((ushort)gio.CardID, gio.Index, value);
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (io.Card.Vender == "LeisaiPulseEx")
|
|
|
|
|
|
{
|
|
|
|
|
|
LeisaiIO gio = (LeisaiIO)io;
|
|
|
|
|
|
LTDMC.nmc_write_outbit((ushort)gio.CardID,gio.SlaveNo, gio.Index, value);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
return -1;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public void Add(string name,IIO io)
|
|
|
|
|
|
{
|
|
|
|
|
|
if(!ioDic.ContainsKey(name))
|
|
|
|
|
|
{
|
|
|
|
|
|
ioDic.Add(name, io);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
