增加轴的复制属性、轴的恢复功能

Rs.Motion/Base/BaseAxisControl.cs

@@ -0,0 +1,65 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Reflection;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Rs.Motion.Base
+{
+    public class BaseAxisControl
+    {
+        List<IAxis> axes= new List<IAxis>();
+
+        private bool bLoadAxis = false;
+        private void LoadAxis()
+        {
+            if(!bLoadAxis)
+            {
+                PropertyInfo[] pis = this.GetType().GetProperties(System.Reflection.BindingFlags.Instance | BindingFlags.Public);
+                foreach (var item in pis)
+                {
+                    IAxis axis = (IAxis)item.GetValue(this, null);
+                    axes.Add(axis);
+                }
+                bLoadAxis = true;
+            }
+        }
+
+        public void AllEnable()
+        {
+            LoadAxis();
+            foreach (IAxis axis in axes)
+            {
+                axis.Enable();
+            }
+        }
+
+        public void AllDisEnable()
+        {
+            LoadAxis();
+            foreach (IAxis axis in axes)
+            {
+                axis.Enable();
+            }
+        }
+
+        public void AllStop()
+        {
+            LoadAxis();
+            foreach (IAxis axis in axes)
+            {
+                axis.Stop();
+            }
+        }
+
+        public void Restore()
+        {
+            LoadAxis();
+            foreach (IAxis axis in axes)
+            {
+                axis.Restore();
+            }
+        }
+    }
+}

Rs.Motion/Base/Config/AxisConfig.cs

@@ -34,164 +34,203 @@ namespace Rs.Motion.Base.Config
 
         [XmlElement]
         [CommonPropertyDescription("卡类型 \r\n 脉冲卡 0 \r\n 总线卡 1 ")]
+        [CopyAttribute]
         public ushort CardType { get; set; } = 0;
 
 
         [XmlElement]
         [CommonPropertyDescription("回零方向 \r\n0:负方向回零 \r\n1:正方向回零")]
+        [CopyAttribute]
         public ushort HomeDir { get; set; } = 0;
 
         [XmlElement]
         [LeisaiPropertyDescription("回零模式 \r\n0：一次回零\r\n1：一次回零加回找\r\n2：二次回零\r\n3：原点加同向 EZ\r\n4：单独记一个 EZ\r\n5：原点加反向 EZ\r\n6：原点锁存\r\n7：原点锁存加同向 EZ\r\n8：单独记一个 EZ 锁存\r\n9：原点锁存加反向 EZ")]
         [ZTMPropertyDescription("回零模式 \r\n 0-无效 \r\n1-HOME，零点开关一次回零 \r\n 2-LMT，限位开关一次回零\r\n 3-Z，编码器Z相信号一次回零\r\n 4-HOME+Z，原点与编码器Z相信号联合回零\r\n5-LMT+Z，限位开关与编码器Z相信号联合回零\r\n 6-LMT+HOME，限位开关与零点开关联合回零\r\n7-LMT+HOME+Z，限位开关、零点开关与编码器Z相信号联合回零\r\n 8-原地，仅仅将轴的位置清零")]
+        [CopyAttribute]
         public ushort HomeMode { get; set; } = 3;
 
 
         [XmlElement]
         [CommonPropertyDescription("原点信号有效电平  \r\n0:低有效，\r\n1:高有效")]
+        [CopyAttribute]
         public ushort HomeOrgLogic { get; set; } = 0;
 
         [XmlElement]
         [LeisaiPropertyDescription("回零速度模式:  \r\n0:低速回零  \r\n1:高速回零")]
         [ZTMPropertyDescription("不用此属性")]
+        [CopyAttribute]
         public ushort HomeVelMode { get; set; } = 0;
 
         [XmlElement]
         [CommonPropertyDescription("回零速度: 单位 mm/s")]
+        [CopyAttribute]
         public int HomeSpeed { get; set; } = 2;
 
         [XmlElement]
         [CommonPropertyDescription("回原点偏后偏移 mm")]
+        [CopyAttribute]
         public double HomeOffset { get; set; } = 0.0;
 
 
         [XmlElement]
         [CommonPropertyDescription("是否启用编码器 \r\n 0禁用 \r\n 1启用")]
+        [CopyAttribute]
         public ushort EnableEncoder { get; set; } = 0;
 
         [XmlElement]
         [DisplayName("脉冲模式")]
         [Description("脉冲模式")]
+        [CopyAttribute]
         public ushort PulseMode { get; set; } = 1;
 
         [XmlElement]
         [CommonPropertyDescription("脉冲输出模式")]
+        [CopyAttribute]
         public ushort PulseOutMode { get; set; } = 5;
 
         [XmlElement]
         [CommonPropertyDescription("脉冲输出方向")]
+        [CopyAttribute]
         public short PulseOutDir { get; set; } = 0;
 
         [XmlElement]
         [CommonPropertyDescription("脉冲输出索引方向")]
+        [CopyAttribute]
         public short PulseOutIndexDir { get; set; } = 0;
 
         [XmlElement]
         [CommonPropertyDescription("编码器输入口的计数方式 \r\n0：非 A/B 相(脉冲/方向) \r\n1：1×A/B \r\n2：2×A/B \r\n3：4×A/B")]
+        [CopyAttribute]
         public ushort CounterInMode { get; set; } = 0;
 
         [XmlElement]
         [CommonPropertyDescription("启用EMG急停信号  \r\n0:禁用 \r\n1:启用")]
+        [CopyAttribute]
         public ushort EnableEmg { get; set; }
 
         [XmlElement]
         [CommonPropertyDescription("EMG信号有效电平，\r\n0：低有效，\r\n1：高有效")]
+        [CopyAttribute]
         public ushort EmgLogic { get; set; }
 
         [XmlElement]
         [CommonPropertyDescription("最大速度 单位:mm/s")]
+        [CopyAttribute]
         public double MaxSpeed { get; set; }
 
 
         [XmlElement]
         [CommonPropertyDescription("最小速度 单位:mm/s")]
+        [CopyAttribute]
         public double MinSpeed { get; set; }
 
         [XmlElement]
         [CommonPropertyDescription("停止速度 单位:mm/s")]
+        [CopyAttribute]
         public double StopSpeed { get; set; }
 
         [XmlElement]
         [CommonPropertyDescription("S型曲线时间 单位：秒")]
+        [CopyAttribute]
         public double STime { get; set; } = 0.02;
 
         [XmlElement]
         [CommonPropertyDescription("电机转一圈的脉冲数 pulse/r")]
+        [CopyAttribute]
         public int PulseOneRound { get; set; } = 10000;
 
         [XmlElement]
         [CommonPropertyDescription("电机转一圈运动距离 mm/r")]
+        [CopyAttribute]
         public double DistOneRound { get; set; } = 5;
 
         [XmlElement]
         [CommonPropertyDescription("正向软极限位置 mm")]
+        [CopyAttribute]
         public double PelSoftwarePosition { get; set; } = 50.0;
 
         [XmlElement]
+        [CopyAttribute]
         [CommonPropertyDescription("负向软极限位置 mm")]
         public double NelSoftwarePosition { get; set; } = -50.0;
 
         [XmlElement]
         [CommonPropertyDescription("是否启用软限位 0:禁止 1-允许")]
+        [CopyAttribute]
         public ushort EnableSoftwareEL { get; set; } = 0;
 
         [XmlElement]
         [CommonPropertyDescription("软极限源  0:指令位置  1:编码器位置")]
+        [CopyAttribute]
         public ushort SoftSource { get; set; } = 1;
 
         [XmlElement]
         [CommonPropertyDescription("限位信号的有效电平 0:正负限位低电平有效 1:正负限位高电平有效")]
+        [CopyAttribute]
         public ushort ElLogic { get; set; } = 0;
 
         [XmlElement]
         [CommonPropertyDescription("限位开关是否启用 根据卡的相关说明配置")]
+        [CopyAttribute]
         public ushort EnableEL { get; set; }
         [XmlElement]
         [CommonPropertyDescription("软极限制动模式 0:减速停止 1:立即停止")]
+        [CopyAttribute]
         public ushort EL_stop_mode { get; set; } = 0;
 
         [XmlElement]
         [CommonPropertyDescription("Z信号电平  0:低电平有效 1:高电平有效")]
+        [CopyAttribute]
         public ushort EzLogic { get; set; } = 0;
 
         [XmlElement]
         [CommonPropertyDescription("加速度时间S")]
+        [CopyAttribute]
         public double AccTime { get; set; } = 0.0;
 
         [XmlElement]
         [CommonPropertyDescription("减速度时间S")]
+        [CopyAttribute]
         public double DecTime { get; set; } = 0.0;
 
         [XmlElement]
         [CommonPropertyDescription("到位信号电平  0:低电平有效 1:高电平有效")]
+        [CopyAttribute]
         public ushort InpLogic { get; set; } = 0;
 
         [XmlElement]
         [CommonPropertyDescription("到位信号启用")]
+        [CopyAttribute]
         public ushort EnableInp { get; set; } = 0;
 
         [XmlElement]
         [CommonPropertyDescription("报警信号电平  0:低电平有效 1:高电平有效")]
+        [CopyAttribute]
         public ushort AlarmLogic { get; set; } = 0;
 
         [XmlElement]
         [CommonPropertyDescription("报警信号启用  0:禁用 1:启用")]
+        [CopyAttribute]
         public ushort EnableAlarm { get; set; } = 0;
 
         [XmlElement]
         [CommonPropertyDescription("允许的误差 单位:mm")]
+        [CopyAttribute]
         public double Tolerance { get; set; } = 0.1;
 
         [XmlElement]
         [CommonPropertyDescription("高速位置对比的电平脉冲宽度 单位:us")]
+        [CopyAttribute]
         public int HcmpPulseWidth { get; set; } = 50;
 
         [XmlElement]
         [CommonPropertyDescription("高速位置比较有效电平：\r\n0：低电平，\r\n1：高电平")]
+        [CopyAttribute]
         public ushort HcmpOutLogic { get; set; } = 0;
 
         [XmlElement]
         [ZTMPropertyDescription("电流值 ma")]
+        [CopyAttribute]
         public short Current { get; set; } = 500;
 
         [XmlElement]
@@ -201,4 +240,9 @@ namespace Rs.Motion.Base.Config
         [XmlElement]
         public ushort AssistEncoder { get; set; } = 0;
     }
+
+    public class CopyAttribute:Attribute
+    {
+
+    }
 }

Rs.Motion/Base/IAxis.cs

@@ -1,4 +1,6 @@
-using Rs.Motion.Base.Config;
+using Newtonsoft.Json;
+using Rs.Framework;
+using Rs.Motion.Base.Config;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -9,6 +11,7 @@ using static GTN.mc_ecat;
 
 namespace Rs.Motion.Base
 {
+    [Serializable]
     public class IAxis
     {
         /// <summary>
@@ -32,6 +35,15 @@ namespace Rs.Motion.Base
             return ErrorCode.Ok;
         }
 
+        public string GetConfigString()
+        {
+            if(Config != null)
+            {
+                return JsonConvert.SerializeObject(Config);
+            }
+            return string.Empty;
+        }
+
         public virtual ErrorCode Deinit()
         {
             return ErrorCode.Ok;
@@ -243,5 +255,14 @@ namespace Rs.Motion.Base
         {
             return ErrorCode.Ok;
         }
+
+        /// <summary>
+        /// 暂停后恢复
+        /// </summary>
+        /// <returns></returns>
+        public virtual ErrorCode Restore()
+        {
+            return ErrorCode.Ok;
+        }
     }
 }

Rs.Motion/Rs.Motion.csproj

@@ -32,6 +32,10 @@
     <WarningLevel>4</WarningLevel>
   </PropertyGroup>
   <ItemGroup>
+    <Reference Include="Newtonsoft.Json, Version=13.0.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>C:\Users\Administrator\Desktop\新建文件夹 (3)\Rs.MotionPlat\Rs.Framework\bin\Debug\Newtonsoft.Json.dll</HintPath>
+    </Reference>
     <Reference Include="System" />
     <Reference Include="System.Core" />
     <Reference Include="System.Data.SQLite">
@@ -45,6 +49,7 @@
     <Reference Include="System.Xml" />
   </ItemGroup>
   <ItemGroup>
+    <Compile Include="Base\BaseAxisControl.cs" />
     <Compile Include="Base\IAxis.cs" />
     <Compile Include="Base\ICard.cs" />
     <Compile Include="Base\Config\AxisConfig.cs" />

Rs.Motion/Ztm/ZtmAxis.cs

@@ -995,6 +995,7 @@ namespace Rs.Motion.GugaoEcat
                 (float)((homeSpeedPulse / 1000.0) / (Config.AccTime * 1000.0)),//回零加速度
                 (int)dfHome_offset, //回原后偏移
                 0);
+            LogHelper.Debug($"axis {Config.AxisName} start home ,homedir={Config.HomeDir},homemode={Config.HomeMode}");
             if (m_apiResult != 0)
             {
                 HomeStatus = EHomeStatus.Fail;
@@ -1134,7 +1135,7 @@ namespace Rs.Motion.GugaoEcat
 
         public override ErrorCode SetPosCompare(ushort channel, double[] postions)
         {
-            m_apiResult = ZTM.ZT_SetCompareParam(Config.CardMc, 0, 1, (short)Config.AxisId, 7,0, 1, (uint)Config.HcmpPulseWidth);
+            m_apiResult = ZTM.ZT_SetCompareParam(Config.CardMc, 0, 1, (short)Config.AxisId, (short)channel, 0, 1, (uint)Config.HcmpPulseWidth);
             double[] poses = new double[postions.Length];
             for (int i = 0; i < poses.Length; i++)
             {