RealSys.MotionPlat/Rs.Motion/Ztm/ZtmCardManager.cs

using CSZTM;
using GTN;
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;
using System.Threading.Tasks;

namespace Rs.Motion.GugaoEcat
{
    public class ZtmCardManager : ICardManager
    {
        Dictionary<short, short> mcDic = new Dictionary<short, short>();
        /// <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 ZtmCardManager() { 
        
        }

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

                return instance;
            }
        }

        /// <summary>
        /// 添加一张IO卡
        /// </summary>
        /// <returns></returns>
        public override IIOCard AddIoCard(int cardID,string name,string vender,bool isEthercat,ushort inNum,ushort outNum,int slaveID)
        {
            ZtmIOCard ioCard = new ZtmIOCard();
            string filename = $"config/motion/io/ztm{cardID}.xml";
            if (!File.Exists(filename))
            {
                ioCard.CardID = (ushort)cardID;
                //ioCard.MC = mcDic[(short)cardID];
                ioCard.Name = name;
                ioCard.Vender = vender;
                ioCard.IsEtherCat = isEthercat;
                ioCard.Init((short)cardID, inNum, outNum, (ushort)slaveID);
                bool suc = XmlSerializerHelper.Instance.Serialize<ZtmIOCard>(filename, ioCard);
            }
            else
                XmlSerializerHelper.Instance.Deserialize<ZtmIOCard>(filename, out ioCard);
            if (mcDic.ContainsKey((short)cardID))
            {
                if (ioCard != null)
                {
                    ioCard.SetMc(mcDic[(short)cardID]);
                }
            }
            return ioCard;
        }
        /// <summary>
        /// 同一类卡统一初始化
        /// </summary>
        /// <returns></returns>
        public override ErrorCode Init()
        {
            int connectCount = 1;
            SqliteHelper db = new SqliteHelper();
            DataTable dt = db.GetDataTable("select * from motioncard where vender='ztm' and enable=1 order by id asc");
            if(dt!=null&&dt.Rows.Count>0)
            {
                foreach(DataRow dr in dt.Rows)
                {
                    connectCount = 1;
                    short mc = -1;
                    string ip = dr["ipaddr"].ToString();
                    while(true && connectCount<=1)
                    {
                        apiResult = ZTM.ZT_Open(ip.ToCharArray(), ref mc, 2000);
                        if (apiResult != 0)
                        {
                            connectCount++;
                            LogHelper.MoveLog($"rs motion card load fail ip={ip},ret={apiResult}",null);
                            MessageQueue.Instance.Warn($"rs motion card load fail ip={ip},ret={apiResult}");
                            continue;
                        }
                        //apiResult = ZTM.ZT_GetConnectionStatus(ip.ToCharArray(), ref mc);
                        //if (1 != apiResult)
                        //{
                        //    return ErrorCode.CardInitFail;
                        //}
                        LogHelper.MoveLog($"rs motion card load success ip={ip},mc={mc}");
                        MessageQueue.Instance.Insert($"rs motion card load success ip={ip},mc={mc}");
                        mcDic.Add(short.Parse(dr["cardid"].ToString()), mc);
                        Thread.Sleep(100);
                        break;
                    }
                }
            }
            IsInitialized = true;
            LogHelper.Debug("rs motion card init ok");
            return ErrorCode.Ok;
        }
        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);
            return card;
        }
    }
}