RealSys.MotionPlat/Rs.Motion/GugaoPulse/GugaoPulseCardManager.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;

namespace Rs.Motion.GugaoPulse
{
    /// <summary>
    /// 固高脉冲卡
    /// </summary>
    public class GugaoPulseCardManager : 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 GugaoPulseCardManager() { 
        
        }

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

                return instance;
            }
        }

        public override IIOCard AddIoCard(int cardID, string name, string vender, bool isEthercat, ushort inNum, ushort outNum, int slaveID)
        {
            GLinkIOCard ioCard = new GLinkIOCard();
            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.Init((short)cardID,inNum, outNum, (ushort)slaveID);
                bool suc = XmlSerializerHelper.Instance.Serialize<GLinkIOCard>(filename, ioCard);
            }
            else
                XmlSerializerHelper.Instance.Deserialize<GLinkIOCard>(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='gugao' and enable=1 order by id desc");
            if(dt!=null&&dt.Rows.Count>0)
            {
                foreach (DataRow row in dt.Rows)
                {
                    //ICard card = new GugaoPulseCard(ushort.Parse(row["cardid"].ToString()), 8, $"gugaopulse{row["cardid"]}.xml");
                    //card.Init();
                    //cardDic.Add(ushort.Parse(row["cardid"].ToString()), card);
                    //打开运动控制卡
                    apiResult = mc_pulse.GT_Open(short.Parse(row["cardid"].ToString()), 0, 1);
                    if (apiResult != 0)
                    {
                        return ErrorCode.CardInitFail;
                    }
                    //清楚报警和限位
                    apiResult = mc_pulse.GT_ClrSts(0, 1, 8);
                    if (apiResult != 0)
                    {
                        return ErrorCode.Fail;
                    }
                    short value = 32767 * 5 / 10;
                    apiResult = mc_pulse.GT_SetDac(0, 11, ref value, 1);
                    MessageQueue.Instance.Insert($"GT_SetDac ret={apiResult}");
                }
            }
            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 GugaoPulseCard(cardID, 8, $"gugaopulse{cardID}.xml");
            card.Init();
            if(!cardDic.ContainsKey((ushort)cardID))
            {
                cardDic.Add((ushort)cardID, card);
            }
            return card;


            //if (cardDic.ContainsKey(cardID)) 
            //    return cardDic[cardID];
            //return null;
        }

        public ErrorCode ComparePulse(short CardId,ushort channel, bool dp = true,short HcmpPulseWidth=100)
        {
            short value = (short)channel;
            if (value != 0)
            {
                value = (short)(1 << (channel - 1));
            }
            apiResult = mc_pulse.GT_ComparePulse(CardId, (short)(1 << (channel - 1)), (short)(dp ? 1 : 0), HcmpPulseWidth);
            if (apiResult != 0)
            {
                return ErrorCode.Fail;
            }
            return ErrorCode.Ok;
        }
    }
}