RealSys.MotionPlat/Rs.Motion/GugaoEcat/GugaoCardManager.cs

using GTN;
using Rs.Framework;
using Rs.Motion.Base;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.IO;
using System.Linq;
using System.Net.NetworkInformation;
using System.Text;
using System.Threading.Tasks;

namespace Rs.Motion.GugaoEcat
{
    public class GugaoCardManager : ICardManager
    {
        /// <summary>
        /// 执行底层接口的返回值
        /// </summary>
        private short apiResult = 0;
        private short core = 1;
        /// <summary>
        /// 保存一共有多少张卡
        /// </summary>
        Dictionary<ushort,ICard> cardDic= new Dictionary<ushort,ICard>();
        private GugaoCardManager() { 
        
        }

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

                return instance;
            }
        }

        public override IIOCard AddIoCard(int cardID, string name, string vender, bool isEthercat, ushort inNum, ushort outNum, int slaveID)
        {
            ECatIOCard ioCard = new ECatIOCard();
            string filename = $"config/motion/io/gugao_ecat{slaveID}.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<ECatIOCard>(filename, ioCard);
            }
            else
                XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(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()
        {
            Stopwatch timer = new Stopwatch();
            if (IsInitialized)
                return ErrorCode.CardAlready;
            short eStatus = 0;
            apiResult = mc_ecat.GTN_Open(mc_ecat.CHANNEL_PCIE, 0);//打开控制卡
            if (apiResult != 0)
            {
                return ErrorCode.CardInitFail;
            }
            apiResult = mc_ecat.GTN_InitEcatComm(core);//初始化EtherCat网络
            if (apiResult != 0)
            {
                return ErrorCode.CardInitFail;
            }
            timer.Restart();
            do
            {
                mc_ecat.GTN_IsEcatReady(core, out eStatus);
            } while (eStatus != 1 && timer.ElapsedMilliseconds<=5000);//等待EtherCAT总线初始化成功
            if(timer.ElapsedMilliseconds>5000)
            {
                timer.Stop();
                return ErrorCode.CardInitFail;
            }
            apiResult = mc_ecat.GTN_StartEcatComm(core);
            if (apiResult != 0)
            {
                return ErrorCode.CardInitFail;
            }
            apiResult = mc_ecat.GTN_ClrSts(core, 1, 32);//清除轴状态
            if (apiResult != 0)
            {
                return ErrorCode.CardInitFail;
            }
            IsInitialized = true;
            return ErrorCode.Ok;
        }

        public ICard GetCard(ushort cardID)
        {
            if(cardDic.ContainsKey(cardID)) return cardDic[cardID];
            else
            {
                if(cardID==0)
                {
                    ICard card = new GugaoCard(cardID, 32, "gugao0.xml");
                    card.Init();
                    cardDic.Add(cardID, card);
                    return card;
                }
            }
            return null;
        }

    }
}