增加雷赛卡的支持

Rs.Framework/TcpClientHelper.cs

@@ -149,10 +149,19 @@ namespace Rs.Framework
                 try
                 {
                     int len = m_Socket.Send(sendData);
+                    //if(len <= 0)
+                    //{
+                    //    m_IsConnected = false;
+                    //    m_Socket.Close();
+                    //    m_Socket.Dispose();
+                    //    Connect(m_HostName, m_Port);
+                    //    OnDisconnected?.Invoke(m_Socket);
+                    //}
                     return len;
                 }
                 catch (Exception)
                 {
+                    m_IsConnected = false;
                     m_Socket.Close();
                     m_Socket.Dispose();
                     Connect(m_HostName, m_Port);
@@ -161,5 +170,12 @@ namespace Rs.Framework
             }
             return -1;
         }
+
+        public void DisConnect()
+        {
+            m_Socket.Close();
+            m_Socket.Dispose();
+            m_IsConnected = false;
+        }
     }
 }

Rs.Motion/IoManager.cs

@@ -1,13 +1,16 @@
-using GTN;
+using csLTDMC;
+using GTN;
 using gts;
 using Rs.DataAccess;
 using Rs.Framework;
 using Rs.Motion.Base;
 using Rs.Motion.GugaoEcat;
 using Rs.Motion.GugaoPulse;
+using Rs.Motion.Leisai;
 using Rs.Motion.Ztm;
 using System;
 using System.Collections.Generic;
+using System.ComponentModel.Design;
 using System.Data;
 using System.IO;
 using System.Linq;
@@ -62,6 +65,19 @@ namespace Rs.Motion
                             ushort.Parse(dr["OutNum"].ToString()),
                             int.Parse(dr["SlaveID"].ToString()
                             ));
+                case "LeisaiPulse":
+                case "LeisaiPulseEx":
+                    return LeisaiCardManager.Instance.AddIoCard(
+                           int.Parse(dr["CardID"].ToString()),
+                           dr["CardName"].ToString(),
+
+                           dr["vender"].ToString(),
+                           false,
+                           ushort.Parse(dr["InNum"].ToString()),
+                           ushort.Parse(dr["OutNum"].ToString()),
+                           int.Parse(dr["SlaveID"].ToString()
+                           ));
+
                 default:return null;
             }
         }
@@ -224,6 +240,36 @@ namespace Rs.Motion
                        
                     }
                 }
+                else if (io.Card.Vender == "LeisaiPulse")
+                {
+                    LeisaiIO eio = (LeisaiIO)io;
+                    apiResult = LTDMC.dmc_read_inbit((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 value = 0;
+                    apiResult = LTDMC.nmc_read_inbit((ushort)io.CardID, eio.SlaveNo, eio.Index,ref value);
+                    if(apiResult==0)
+                    {
+                        if (eio.IsReverse)
+                        {
+                            return (short)((~value) & 0x01);
+                        }
+                        else
+                        {
+                            return (short)value;
+                        }
+                    }
+                }
             }
             return -1;
         }
@@ -321,6 +367,36 @@ namespace Rs.Motion
                         }
                     }
                 }
+                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;
         }
@@ -371,6 +447,16 @@ namespace Rs.Motion
                     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;
         }

Rs.Motion/Leisai/LeisaiCard.cs

@@ -0,0 +1,119 @@
+using Rs.Framework;
+using Rs.Motion.Base;
+using Rs.Motion.Base.Config;
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Xml.Serialization;
+
+namespace Rs.Motion.Leisai
+{
+    public class LeisaiCard:ICard
+    {
+		public LeisaiCard(ushort cardID,ushort axisCount,string cfgName) 
+		{ 
+			CardID= cardID;
+			AxisCount= axisCount;
+			CfgName= cfgName;
+			Config = new CardConfig();
+		}
+
+		private ushort _CardID;
+
+		/// <summary>
+		/// 卡编号
+		/// </summary>
+		[XmlIgnore]
+		public ushort CardID
+        {
+			get { return _CardID; }
+			set { _CardID = value; }
+		}
+
+
+		private ushort _AxisCount;
+        [XmlIgnore]
+        public ushort AxisCount
+        {
+			get { return _AxisCount; }
+			set { _AxisCount = value; }
+		}
+
+		private string _CfgName;
+        [XmlIgnore]
+        public string CfgName
+		{
+			get { return _CfgName; }
+			set { _CfgName = value; }
+		}
+
+        public override ErrorCode Init()
+		{
+			string baseDir = AppDomain.CurrentDomain.BaseDirectory;
+			string filePath=Path.Combine(baseDir,"Config","Motion", CfgName);
+			//检测文件夹是否存在，不存在则创建
+			if(!Directory.Exists(Path.GetDirectoryName(filePath)))
+			{
+				Directory.CreateDirectory(Path.GetDirectoryName(filePath));
+			}
+			//判断文件是否存在,如果不存在配置文件，则生成配置文件
+			if(!File.Exists(filePath))
+			{
+				Config.Init(CardID, AxisCount,0);
+				bool suc = XmlSerializerHelper.Instance.Serialize(filePath, Config);
+				if(!suc)
+				{
+					return ErrorCode.CardLoadConfigFail;
+				}
+			}
+			else
+			{
+                bool suc = XmlSerializerHelper.Instance.Deserialize<CardConfig>(filePath ,out CardConfig config);
+				Config=config;
+				
+            }
+            InitAxis();
+            return ErrorCode.Ok;
+        }
+
+		public override ErrorCode Save()
+		{
+			if(Config != null)
+			{
+                string baseDir = AppDomain.CurrentDomain.BaseDirectory;
+                string filePath = Path.Combine(baseDir, "Config", "Motion", CfgName);
+                if (File.Exists(filePath))
+				{
+					File.Delete(filePath);
+                    XmlSerializerHelper.Instance.Serialize(filePath, Config);
+					return ErrorCode.Ok;
+                }
+            }
+			return ErrorCode.CardNotInit;
+		}
+
+		private ErrorCode InitAxis()
+		{
+			for(int i=0; i<AxisCount; i++)
+			{
+				try
+				{
+                    IAxis axis = new LeisaiAxis(Config.AxisConfigs[i]);
+                    axis.Card = this;
+                    axis.Config.Axis = axis;
+                    axis.Init();
+                    AxisIdDic.Add(axis.Config.AxisId, axis);
+                    AxisNameDic.Add(axis.Config.AxisName, axis); 
+                }
+				catch (Exception)
+				{
+					
+				}
+			}
+			return ErrorCode.Ok;
+		}
+	}
+}

Rs.Motion/Leisai/LeisaiCardManager.cs

@@ -0,0 +1,151 @@
+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;
+        }
+    }
+}

Rs.Motion/Leisai/LeisaiIO.cs

@@ -0,0 +1,14 @@
+using Rs.Motion.Base;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Rs.Motion.Leisai
+{
+    public class LeisaiIO : IIO
+    {
+        public ushort SlaveNo { get; set; }
+    }
+}

Rs.Motion/Leisai/LeisaiIOCard.cs

@@ -0,0 +1,49 @@
+using Rs.Framework;
+using Rs.Motion.Base;
+using Rs.Motion.Ztm;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Xml.Serialization;
+
+namespace Rs.Motion.Leisai
+{
+    /// <summary>
+    /// GLink卡
+    /// </summary>
+    [XmlInclude(typeof(LeisaiIO))]
+    public class LeisaiIOCard : IIOCard
+    {
+        public override void Init(short cardID,ushort inCount, ushort outCount, ushort slaveNo)
+        {
+            for (ushort i = 0; i < outCount; i++)
+            {
+                LeisaiIO io = new LeisaiIO();
+                io.SlaveNo = slaveNo;
+                io.CardID = cardID;
+                io.CardID = (short)CardID;
+                io.Name = "Out" + i + "_" + slaveNo;
+                io.Index = i;
+                DOut.Add(io);
+            }
+            for (ushort i = 0; i < inCount; i++)
+            {
+                LeisaiIO io = new LeisaiIO();
+                io.SlaveNo=slaveNo;
+                io.CardID = cardID;
+                io.Card = this;
+                io.Name = "In" + i + "_" + slaveNo;
+                io.Index = i;
+                DIn.Add(io);
+            }
+        }
+
+        public override void Save()
+        {
+            string filename = $"config/motion/io/leisai{CardID}.xml";
+            XmlSerializerHelper.Instance.Serialize<LeisaiIOCard>(filename, this);
+        }
+    }
+}

Rs.Motion/Rs.Motion.csproj

@@ -77,8 +77,14 @@
     <Compile Include="Invoke\GugaoECat\LookAheadEx.cs" />
     <Compile Include="Invoke\GugaoPulse\config.cs" />
     <Compile Include="Invoke\GugaoPulse\gts.cs" />
+    <Compile Include="Invoke\Leisai\LTDMC.cs" />
     <Compile Include="Invoke\Ztm\ZTM.cs" />
     <Compile Include="IoManager.cs" />
+    <Compile Include="Leisai\LeisaiAxis.cs" />
+    <Compile Include="Leisai\LeisaiCard.cs" />
+    <Compile Include="Leisai\LeisaiCardManager.cs" />
+    <Compile Include="Leisai\LeisaiIO.cs" />
+    <Compile Include="Leisai\LeisaiIOCard.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
     <Compile Include="Ztm\ZtmAxis.cs" />
     <Compile Include="Ztm\ZtmCard.cs" />

Rs.MotionPlat.sln

@@ -19,6 +19,8 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "HWindow_Tool", "HWindow_Too
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Rs.Cameras", "Rs.Cameras\Rs.Cameras.csproj", "{971D93FF-FD34-4088-9591-C25147290D22}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Rs.AutomaticDoubleUpAndDown", "..\Rs.AutomaticDoubleUpAndDown\Rs.AutomaticDoubleUpAndDown\Rs.AutomaticDoubleUpAndDown.csproj", "{983F6B3C-E08A-42F0-8A34-2E6590636811}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -57,6 +59,10 @@ Global
 		{971D93FF-FD34-4088-9591-C25147290D22}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{971D93FF-FD34-4088-9591-C25147290D22}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{971D93FF-FD34-4088-9591-C25147290D22}.Release|Any CPU.Build.0 = Release|Any CPU
+		{983F6B3C-E08A-42F0-8A34-2E6590636811}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{983F6B3C-E08A-42F0-8A34-2E6590636811}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{983F6B3C-E08A-42F0-8A34-2E6590636811}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{983F6B3C-E08A-42F0-8A34-2E6590636811}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE