From 12072ee6dff9bbbfb6048603afc24d6361329f67 Mon Sep 17 00:00:00 2001
From: lhiven <236881222@qq.com>
Date: Tue, 15 Aug 2023 08:30:45 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E5=AF=B9=E8=BF=90=E5=8A=A8?=
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---
 Rs.MotionPlat/Commom/Ops.cs | 161 ++++++++++++++++++++++++++++++++++++
 1 file changed, 161 insertions(+)
 create mode 100644 Rs.MotionPlat/Commom/Ops.cs

diff --git a/Rs.MotionPlat/Commom/Ops.cs b/Rs.MotionPlat/Commom/Ops.cs
new file mode 100644
index 0000000..e4bba09
--- /dev/null
+++ b/Rs.MotionPlat/Commom/Ops.cs
@@ -0,0 +1,161 @@
+using Rs.Camera;
+using Rs.Framework;
+using Rs.Motion.GugaoEcat;
+using Rs.Motion.GugaoPulse;
+using Rs.Motion;
+using Rs.MotionPlat.Flow;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using Rs.Motion.Base;
+
+namespace Rs.MotionPlat.Commom
+{
+    public class Ops
+    {
+        public static void Init()
+        {
+            #region 初始化固高卡
+            ErrorCode errCode = GugaoPulseCardManager.Instance.Init();
+            if (errCode > ErrorCode.Ok)
+            {
+                MessageQueue.Instance.Warn("Gugao motion card load fail");
+            }
+            else
+            {
+
+            }
+            #endregion
+
+            #region 初始化ztm卡
+            errCode = ZtmCardManager.Instance.Init();
+            if (errCode > ErrorCode.Ok)
+            {
+                MessageQueue.Instance.Warn("ZTM motion card load fail");
+            }
+            else
+            {
+                MessageQueue.Instance.Insert("ZTM motion card load ok");
+            }
+            #endregion
+            #region 初始化IO
+            IoManager.Instance.Init();
+            #endregion
+
+            #region 链接相机
+            //链接相机
+            ECameraErrorCode ceCode = HikCamera.Instance.Init();
+            if (ceCode > ECameraErrorCode.Ok)
+            {
+                MessageQueue.Instance.Warn(ceCode.ToString());
+            }
+            else
+            {
+                MessageQueue.Instance.Insert("Camera load ok!");
+
+                int ret = HikCamera.Instance.SetReverseX("upCamera", EDir.Y, true);
+                ret += HikCamera.Instance.SetReverseX("upCamera", EDir.X, true);
+                if (ret != 0)
+                {
+                    MessageQueue.Instance.Warn("Camera init error");
+                }
+                ret = 0;
+                ret = HikCamera.Instance.SetReverseX("downCamera", EDir.X, true);
+                ret += HikCamera.Instance.SetReverseX("downCamera", EDir.Y, false);
+                if (ret != 0)
+                {
+                    MessageQueue.Instance.Warn("Camera init error");
+                }
+
+                ret = HikCamera.Instance.StartGrab("upCamera");
+                if (ret != 0)
+                {
+                    MessageQueue.Instance.Warn("Camera init error");
+                }
+                ret = HikCamera.Instance.StartGrab("downCamera");
+                if (ret != 0)
+                {
+                    MessageQueue.Instance.Warn("Camera init error");
+                }
+            }
+            #endregion
+
+            SafeControl.Instance.Init();
+            NozzleManager.Init();
+            TestCenter.Instance.Init();
+            MachineManage.Instance.InitializeState = EInitializeState.Initialized;
+        }
+
+        public static bool IsStop(params string[] axies)
+        {
+            foreach (var axisname in axies)
+            {
+                if (!IsStop(AxisControl.GetAxis(axisname)))
+                    return false;
+            }
+            return false;
+        }
+        public static bool IsStop(params IAxis[] axies)
+        {
+            foreach (var axis in axies)
+            {
+                axis.IsStop(out bool bStop);
+                if (!bStop)
+                    return false;
+            }
+            return true;
+        }
+
+        public static bool IsHomed(params string[] axies)
+        {
+            foreach (var axisname in axies)
+            {
+                if (!IsHomed(AxisControl.GetAxis(axisname)))
+                    return false;
+            }
+            return false;
+        }
+
+        public static bool IsHomed(params IAxis[] axies)
+        {
+            foreach (var axis in axies)
+            {
+                if (axis.HomeStatus != EHomeStatus.Finished)
+                    return false;
+            }
+            return true;
+        }
+
+        public static void On(string ioName)
+        {
+            IoManager.Instance.WriteOut(ioName, 1);
+        }
+
+        public static void Off(string ioName)
+        {
+            IoManager.Instance.WriteOut(ioName, 0);
+        }
+
+        public static bool IsOn(string ioName)
+        {
+            return IoManager.Instance.ReadIn(ioName) == 1;
+        }
+
+        public static bool IsOff(string ioName)
+        {
+            return IoManager.Instance.ReadIn(ioName) == 0;
+        }
+
+        public static bool IsOutOn(string ioName)
+        {
+            return IoManager.Instance.ReadOut(ioName) == 1;
+        }
+
+        public static bool IsOutOff(string ioName)
+        {
+            return IoManager.Instance.ReadOut(ioName) == 0;
+        }
+    }
+}