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ZTM运动库增加初始化的日志方便查询问题

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master
lhiven 2 years ago
parent 5800a3ce13
commit 2e04ae084a
3 changed files with 18 additions and 12 deletions
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26
Rs.Motion/Ztm/ZtmAxis.cs
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@ -36,81 +36,83 @@ namespace Rs.Motion.GugaoEcat
/// <returns></returns>
public override ErrorCode Init()
{
LogHelper.Debug($"axis {Config.AxisName} init");
if (!cardManager.IsInitialized)
{
LogHelper.Debug($"axis {Config.AxisName}'s card IsInitialized");
return ErrorCode.CardNotInit;
}
HomeStatus = EHomeStatus.NotStart;
m_apiResult = ZTM.ZT_SetPOTOn(Config.CardMc, (short)Config.AxisId, (short)((Config.EnableEL&0x01)));
if (m_apiResult != 0)
{
LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetPOTOn ret={m_apiResult}");
LogHelper.Debug($"axis {Config.AxisName} ZT_SetPOTOn ret={m_apiResult}");
return ErrorCode.Fail;
}
m_apiResult = ZTM.ZT_SetNOTOn(Config.CardMc, (short)Config.AxisId, (short)((Config.EnableEL>>1)&0x01));
if (m_apiResult != 0)
{
LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetNOTOn ret={m_apiResult}");
LogHelper.Debug($"axis {Config.AxisName} ZT_SetNOTOn ret={m_apiResult}");
return ErrorCode.Fail;
}
m_apiResult = ZTM.ZT_SetPOTPol(Config.CardMc, (short)Config.AxisId, (short)Config.ElLogic);
if (m_apiResult != 0)
{
LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetPOTPol ret={m_apiResult}");
LogHelper.Debug($"axis {Config.AxisName} ZT_SetPOTPol ret={m_apiResult}");
return ErrorCode.Fail;
}
m_apiResult = ZTM.ZT_SetNOTPol(Config.CardMc, (short)Config.AxisId, (short)Config.ElLogic);
if (m_apiResult != 0)
{
LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetNOTPol ret={m_apiResult}");
LogHelper.Debug($"axis {Config.AxisName} ZT_SetNOTPol ret={m_apiResult}");
return ErrorCode.Fail;
}
m_apiResult = ZTM.ZT_SetAlarmOn(Config.CardMc, (short)Config.AxisId, (short)(Config.EnableAlarm));
if (m_apiResult != 0)
{
LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetAlarmOn ret={m_apiResult}");
LogHelper.Debug($"axis {Config.AxisName} ZT_SetAlarmOn ret={m_apiResult}");
return ErrorCode.Fail;
}
m_apiResult = ZTM.ZT_SetAlarmPol(Config.CardMc, (short)Config.AxisId, (short)Config.AlarmLogic);
if (m_apiResult != 0)
{
LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetAlarmPol ret={m_apiResult}");
LogHelper.Debug($"axis {Config.AxisName} ZT_SetAlarmPol ret={m_apiResult}");
return ErrorCode.Fail;
}
m_apiResult = ZTM.ZT_SetHomePol(Config.CardMc, (short)Config.AxisId, (short)Config.HomeOrgLogic);
if (m_apiResult != 0)
{
LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetHomePol ret={m_apiResult}");
LogHelper.Debug($"axis {Config.AxisName} ZT_SetHomePol ret={m_apiResult}");
return ErrorCode.Fail;
}
m_apiResult = ZTM.ZT_SetPulseRatio(Config.CardMc, (short)Config.AxisId, 1U, 1U);
if (m_apiResult != 0)
{
LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetPulseRatio ret={m_apiResult}");
LogHelper.Debug($"axis {Config.AxisName} ZT_SetPulseRatio ret={m_apiResult}");
return ErrorCode.Fail;
}
m_apiResult = ZTM.ZT_SetGearRatio(Config.CardMc, (short)Config.AxisId, 1U, 1U);
if (m_apiResult != 0)
{
LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetGearRatio ret={m_apiResult}");
LogHelper.Debug($"axis {Config.AxisName} ZT_SetGearRatio ret={m_apiResult}");
return ErrorCode.Fail;
}
m_apiResult = ZTM.ZT_SetEncoderOn(Config.CardMc, (short)Config.AxisId, (short)(Config.EnableEncoder));
if (m_apiResult != 0)
{
LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetEncoderOn ret={m_apiResult}");
LogHelper.Debug($"axis {Config.AxisName} ZT_SetEncoderOn ret={m_apiResult}");
return ErrorCode.Fail;
}
m_apiResult = ZTM.ZT_SetPulseMode(Config.CardMc, (short)Config.AxisId, (short)Config.PulseOutMode, 0, 0);
if (m_apiResult != 0)
{
LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetPulseMode ret={m_apiResult}");
LogHelper.Debug($"axis {Config.AxisName} ZT_SetPulseMode ret={m_apiResult}");
return ErrorCode.Fail;
}
m_apiResult = ZTM.ZT_SetEncoderPol(Config.CardMc, (short)Config.AxisId, Config.PulseOutDir);
if (m_apiResult != 0)
{
LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetEncoderPol ret={m_apiResult}");
LogHelper.Debug($"axis {Config.AxisName} ZT_SetEncoderPol ret={m_apiResult}");
return ErrorCode.Fail;
}
//m_LastErrorCode = ZTM.ZT_SetEncoderIndexPol(m_axis_config.CardMc, m_axis_config.AxisNum, m_axis_config.encoder_config.pulse_outindexdirection);

1
Rs.Motion/Ztm/ZtmCard.cs
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@ -112,6 +112,7 @@ namespace Rs.Motion.GugaoEcat
for(int i=0; i<AxisCount; i++)
{
IAxis axis = new ZtmAxis(Config.AxisConfigs[i]);
LogHelper.Debug($"init axis {axis.Config.AxisName}");
axis.Card = this;
axis.Config.Axis = axis;
axis.Init();

3
Rs.Motion/Ztm/ZtmCardManager.cs
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@ -119,15 +119,18 @@ namespace Rs.Motion.GugaoEcat
}
public ICard GetCard(short cardID)
{
ICard card;
if(cardDic.ContainsKey((ushort)cardID)) return cardDic[(ushort)cardID];
if(mcDic.ContainsKey(cardID))
{
card = new ZtmCard((ushort)cardID, (ushort)mcDic[cardID], 10, $"ztm{cardID}.xml");
LogHelper.Debug($"cardid={cardID} mc={mcDic[cardID]} ");
}
else
{
card = new ZtmCard((ushort)cardID, 0, 10, $"ztm{cardID}.xml");
LogHelper.Debug($"cardid={cardID} ");
}
card.Init();
cardDic.Add((ushort)cardID, card);

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